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Cooperative localisation with hybrid inertial navigation system/pedestrian dead reckoning tracking for GPS-denied environments

Agis, P; Wong, KK; Zheng, Z; Zhang, Y; (2016) Cooperative localisation with hybrid inertial navigation system/pedestrian dead reckoning tracking for GPS-denied environments. In: Ossowski, S, (ed.) SAC '16: Proceedings of the 31st Annual ACM Symposium on Applied Computing. (pp. pp. 675-681). Association for Computing Machinery (ACM): New York. Green open access

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Abstract

In this paper, we develop a novel probabilistic hybrid inertial navigation system (INS)/pedestrian dead reckoning (PDR) measurement tracking algorithm, namely (PHIMTA), that provides high accuracy tracking in slow pedestrian scenarios. We then combine it with the latest localisation algorithms, such as grid-based belief propagation (GBP) and stop-and-go (SnG), that allow for improved accuracy in GPS-denied environments.

Type: Proceedings paper
Title: Cooperative localisation with hybrid inertial navigation system/pedestrian dead reckoning tracking for GPS-denied environments
Event: SAC 2016: Symposium on Applied Computing, Pisa, Italy, 4 - 8 April 2016
ISBN-13: 9781450337397
Open access status: An open access version is available from UCL Discovery
DOI: 10.1145/2851613.2851850
Publisher version: http://dx.doi.org/10.1145/2851613.2851850
Language: English
Additional information: Copyright © 2016 Association for Computing Machinery (ACM)
Keywords: ACM proceedings; Cooperative localization; Mobility; INS
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/1503690
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