| 1. |
- Rantakokko, J., et al.
(författare)
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Integration of GNSS-receivers with dual foot-mounted INS in urban and indoor environments
- 2016
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Ingår i: Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 589-598
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Konferensbidrag (refereegranskat)abstract
- In safety-critical applications, including firefighter and law enforcement operations, infrastructure-free localization systems are typically required. These systems must provide accurate localization in all scenarios. Seamless indoor and outdoor localization and navigation, including in dense urban environments, are needed. Multi-sensor fusion algorithms constitute an integral part in all state-of-the-art indoor positioning systems. GNSS-receivers typically provide poor estimates of their own position uncertainty in dense urban and indoor environments, where significant position errors can be expected, which makes the design of a robust sensor fusion algorithm a challenge. Sensor fusion strategies for integration of a GNSS-receiver with foot-mounted inertial navigation systems (INS) are described and evaluated in this work. For a loosely coupled integration strategy, we suggest to use a cut-off criteria that governs when to discard the GNSS-positions and demonstrate that it can improve the position and heading accuracy in outdoor/indoor transition regions. Similarly, for a tightly coupled integration strategy, we suggest an approach with heavy-tailed measurement noise and demonstrate its capability to suppress inconsistent data and improve performance in the same regions.
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| 2. |
- Rantakokko, Jouni, et al.
(författare)
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Scenario-based evaluations of high-accuracy personal positioning systems
- 2012
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Ingår i: Proc. of IEEE/ION Position Location and Navigation Symposium (PLANS). - : IEEE conference proceedings. - 9781467303859 ; , s. 106-112
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Konferensbidrag (refereegranskat)abstract
- Foot-mounted inertial sensors combined with GPS-receivers, magnetometers, and barometric pressure sensors have shown great potential in providing high-accuracy positioning systems for first responder and military applications. Several factors, including the type of movement, surface, and the shape of the trajectory, can strongly influence the performance of foot-mounted inertial navigation systems. There is a need for realistic scenario-based evaluations as a complement to the controlled environment tests that have been published in the literature. In this work we evaluate the performance of a foot-mounted inertial navigation system using three-axis accelerometers, gyroscopes and magnetometers during realistic scenario-based measurements. The position accuracy is evaluated by using a camera-based reference system which positions itself towards visual markers placed at pre-surveyed positions, using a slightly modified version of the ARToolKitPlus software. Maximum position errors of 2.5 to 5.5 meters were obtained during four separate high-tempo building clearing operations that lasted approximately three and a half minutes each. Further improvements in accuracy, as well as improved robustness towards different movement patterns, can be achieved by implementing an adaptive stand-still detection algorithm.
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| 3. |
- Rantakokko, Jouni, et al.
(författare)
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Soldier positioning in GNSS-denied operations
- 2012
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Ingår i: Proc. of Sensors and Electronics Technology Panel Symposium (SET-168) on Navigation Sensors and Systems in GNSS Denied Environments. ; , s. 1-12
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Konferensbidrag (refereegranskat)abstract
- Foot-mounted inertial sensors, combined with GPS-receivers, magnetometers and barometric pressure sensors have shown great potential in providing a high-accuracy positioning system for safety-critical applications, such as first responders and military personnel. Although several research groups have demonstrated high accuracies with experimental systems in controlled environment tests, showcasing the potential of the technology, there is still an apparent lack of performance evaluations conducted during more realistic conditions. Several field tests have been performed and the results from the first scenario-based measurements are presented here. An accuracy of 2-4 m was obtained with an experimental soldier positioning demonstration system, using foot-mounted inertial sensors, during a realistic building-clearing exercise that lasted over three and a half minutes. Also, different sensor fusion alternatives are examined, using double foot-mounted inertial navigation systems (INS) and combining a foot-mounted INS with camera-based localization.
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