This article is part of the series Wireless Location Technologies and Applications.

Open Access Research Article

Advanced Integration of WiFi and Inertial Navigation Systems for Indoor Mobile Positioning

Frédéric Evennou* and François Marx

Author Affiliations

Division R&D, TECH/IDEA, France Telecom, Meylan 38243, France

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EURASIP Journal on Advances in Signal Processing 2006, 2006:086706  doi:10.1155/ASP/2006/86706


The electronic version of this article is the complete one and can be found online at: http://asp.eurasipjournals.com/content/2006/1/086706


Received: 23 June 2005
Revisions received: 23 January 2006
Accepted: 29 January 2006
Published: 25 April 2006

© 2006 Evennou and Marx

This paper presents an aided dead-reckoning navigation structure and signal processing algorithms for self localization of an autonomous mobile device by fusing pedestrian dead reckoning and WiFi signal strength measurements. WiFi and inertial navigation systems (INS) are used for positioning and attitude determination in a wide range of applications. Over the last few years, a number of low-cost inertial sensors have become available. Although they exhibit large errors, WiFi measurements can be used to correct the drift weakening the navigation based on this technology. On the other hand, INS sensors can interact with the WiFi positioning system as they provide high-accuracy real-time navigation. A structure based on a Kalman filter and a particle filter is proposed. It fuses the heterogeneous information coming from those two independent technologies. Finally, the benefits of the proposed architecture are evaluated and compared with the pure WiFi and INS positioning systems.

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