INSTITUTE OF SYSTEMS OPTIMIZATION (ITE)
KIT – The Research University in the Helmholtz Association www.ite.kit.edu
Pedestrian Navigation in Indoor Environments
Based on Foot-Mounted Sensors
Nikolai Kronenwett and Gert F. Trommer
Institute of Systems Optimization (ITE)
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Main Research ITE
Systems
Micro Aerial VehicleFusion of IMU, Cameras, Laserscanner and GNSS
Focus on GNSS-denied envinroments
Navigation and exploration indoors
Collision avoidance
Map generation
Semantic segmentation
Pedestrian Navigation
2 November 23rd, 2018
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Introduction
November 23rd, 20183
Challenges:
Independence of pre-installed infrastructure
Outdoor-Indoor transitions
Accurate localization
Restrictions in weight, cost and size
Wide field of applications:
Task force members
Security & rescue personnel
Visually impaired people
Private users
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Outline
November 23rd, 20184
Hardware Configuration
Introduction
Model Based Navigation and Experimental Results
Conclusion & Outlook
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Hardware Configuration
November 23rd, 20185
Datalink(WiFi)
Ground station
GNSS
Foot Module
User Interface
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Hardware Configuration
November 23rd, 20186
Foot Module
MEMS MPU-9250
Air Pressure Sensor BMP 280
NEO M8T GNSS Receiver
MEMS Adis16448 Connector
Bluetooth antenna
Microprocessor STM32
Bluetooth
2x MPU-9250ADIS16448-Connector
Air Pressure Sensor
GNSS Receiver
Processing Unit / User Interface
Lenovo X1 Yoga
Intel i7-7500U (2.7GHz)
16GB DDR3-RAM
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Outline
November 23rd, 20187
Hardware Configuration
Introduction
Model Based Navigation and Experimental Results
Conclusion & Outlook
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Model Based Navigation
November 23rd, 20188
Zero Velocity Update (ZUPT)
Challenges of MEMS sensors for INS:
Accumulation of biased ACC+GYRO values increasing drift
Solutions:
Additional aiding sensors (Laser, camera,…) increasing cost, weight and size
Physical or model-based knowledge
t
Po
sit
ion
err
or Strapdown Integration (w. Bias)
ZUPT only Strapdown
ZUPT in Navigation filter
Zero Velocity Update (ZUPT):
𝜎2- based technique imprecise
New: model-based technique high-precision
ZUPT
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Model Based Navigation
November 23rd, 20189
Finite State Machine (FSM) - Idea
Goal: Robust and accurate detection of the Midstance phase
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Model Based Navigation
November 23rd, 201810
Finite State Machine (FSM) - Step Detection
time / s
time / s
𝜔𝑖𝑏,𝑦
𝑓/rad s
𝑎𝑖𝑏𝑓
/ m s3
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Model Based Navigation
November 23rd, 201811
Decision Signals:
Angular rate 𝜔𝑖𝑏,𝑦𝑓
Derivation 𝜔𝑖𝑏,𝑦𝑓
Magnitude 𝜔𝑖𝑏𝑓
Magnitude 𝑎𝑖𝑏𝑏
Variance 𝜎𝜔2 , 𝜎𝑎
2
Magnitude of 𝑎𝑖𝑏𝑓
Finite State Machine (FSM) - Step Detection
Midstance
TerminalSwing
LoadingLoadingTerminal
LoadingSwing
T1
T2
T3
T4( )
T5T6 T7
T8
T9
T10
T11
T12
T13
T14
T15
Initiali-
backwardsbackwards
backwards
stance
responseresponse
zation
response
stancestaircase
Movementtype
Running
T
T
W
R
Walking
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Experimental Results
November 23rd, 201812
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Model Based Navigation
Absolute position and attitude estimation with GNSS signals
Tightly Coupled GNSS/INS Integration
Indoor/Outdoor transitions possible
Time delay correction between GNSS and IMU data
GPS support (GLONASS in future)
Detection and exclusion of GNSS satellites with multipath errors
November 23rd, 201813
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Model Based Navigation
November 23rd, 201814
Check Elevation
𝜙 > 𝛿𝜙
Satellites with low elevation angles have a high probability of multipath errors especially in urban
envirnoments
Check SNR
𝑆𝑁𝑅 > 𝛿𝑆𝑁𝑅
Reduction of the signal power by reflection, deflection or scattering
Mahalanobis Distance
𝑚 < 𝛿𝑚𝑎ℎ𝑎𝑙 𝑚 =𝑟2
𝜎𝑆2 𝑟 = 𝐻 𝑥 − 𝑦 𝜎𝑆
2 = 𝐻𝑃𝐻𝑇 + 𝜎𝑅2
Adaptive outlier detection depending on P
Check if there is a big gap between predicted and received measurement respect to their covariances
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Experimental Results
November 23rd, 201815
ADIS 16448 IMU
GPS only with 10Hz
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Model Based Navigation
ZUPT not always indoors
November 23rd, 201816
-10 -5 0 5 10 15 20
North
-5
0
5
Hö
he
Rolltreppenbewegung AufzugsbewegungEscalator Elevator
east / m
heig
ht/ m
Robust and exact detection of moving platforms
[1] [2]
Source of [1]: https://ozoneelevators.co.in/images/backgrounds/bg-main-2.jpg
Source of [2]: https://upload.wikimedia.org/wikipedia/commons/thumb/4/42/Copenhag en_Metro_escalators.jpg/1920px-Copenhagen_Metro_escalators.jpg
Institute of Systems Optimization (ITE)Nikolai KronenwettNovember 23rd, 201817
Model Based Navigation
Elevator Hypothesis
Accelerate up
Const velocity up
Brake up
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Experimental Results
November 23rd, 201818
vert. distance hor. distance 𝚫h 𝚫2D 𝚫3D
Test 1 105.23m 240.00m 0.33m 0.40m 0.52m
Test 2 63.52m 140.07m 0.89m 0.57m 1.05m
Test 3 124.03m 153.79m 0.98m 0.62m 1.16m
Institute of Systems Optimization (ITE)Nikolai KronenwettNovember 23rd, 201819
Model Based Navigation
𝑣ℎ𝑜𝑟 = 𝑣𝑛𝑜𝑟𝑡ℎ2 + 𝑣𝑒𝑎𝑠𝑡
2
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Experimental Results
November 23rd, 201820
vert. distance hor. distance 𝚫h 𝚫2D 𝚫3D
Test 1 28.95m 111.53m 0.49m 0.82m 0.97m
Test 2 36.90m 168.37m 0.06m 2.38m 2.38m
Test 3 25.99m 123.34m 0.11m 0.57m 0.58m
Test 4 20.46m 324.99m 0.05m 1.37m 1.37m
Without constraints With constraints With constraints and steps on the escalator
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Outline
November 23rd, 201821
Hardware Configuration
Introduction
Model Based Navigation and Experimental Results
Conclusion & Outlook
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Conclusion & Outlook
November 23rd, 201822
Mounting electronics in heel
Body camera with RGBD sensor for reconstruction of 3D map
Conclusion
Outlook
High accurate relative positioning system
Tightly integration of GNSS/IMU data for absolute localization
Detection of elevators and escalators
Real-time localization in outdoor and indoor scenarios
Institute of Systems Optimization (ITE)Nikolai Kronenwett
Conclusion & Outlook
November 23rd, 201823
Realsense D435
(IMU Integration)
Institute of Systems Optimization (ITE)Nikolai KronenwettNovember 23rd, 201824
Contact information:
http://www.ite.kit.edu