Multi-Sensor Pedestrian Indoor/Outdoor Navigation 2.5 D

Описание: This video shows a particle filter algorithm and a Kalman filter joining various personal navigation sensors, including a GPS receiver, an electronic compass, a baro-altimeter, and a foot-mounted low-cost inertial platform. Outdoor the GPS receiver provides an accurate position, but the satellite signals become unavailbale indoor. In the indoor environment the combination of the inertial step sensing and the building map allows to navigate seamlessly without accumulating errors. The changes in the floor levels are sensed by the altimeter.