Map Aided Indoor and Outdoor Navigation Applications
Date
2013-09-23
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
Navigation systems play an important role in many vital disciplines. Determining the location of a user relative to the physical environment (e.g. roadway, intersections, and services) is an important part of transportation services such as in-vehicle navigation, fleet management and infrastructure maintenance. In addition, other navigation services are required for locating the position of a user in an indoor physical environment (e.g. airports, shopping malls, public buildings, university campus). This indoor-based navigation can assist in several applications such as user navigation, enhanced 911 (E911), law enforcement, location-based and marketing services. Both indoor and outdoor navigation applications require a reliable, trustful and continuous navigation solution that overcomes the challenge of Global Navigation Satellite System (GNSS) signal unavailability. To compensate for this issue, GNSS is now commonly used in tandem with other navigation systems such as Inertial Navigation System (INS). This dual-system integration method provides a solution to GNSS signal outages. However, over time there is a significant amount of drift, characteristic of INS but especially common with low-cost commercial sensors. The effects of drift on INS accuracy highlight the need for additional absolute aiding sensors that can survive for longer periods of time.
In this thesis, a map aided navigation solution is developed for GNSS-denied environments. Maps have been the primary medium to visualize the navigation trajectories of a user’s everyday travels. This research investigates and develops an aiding system that utilizes geospatial data models in more than just a visual way. It assists the navigation solution by providing virtual boundaries for the navigation trajectories and limits its possibilities only when it is logical to locate the user on a map. The algorithms subsequently developed integrate several navigation sensors for different navigation solutions. Several geospatial models for both indoor and outdoor environments (e.g. urban canyons) in addition to various map matching algorithms were used to match and project navigation position estimates on the geospatial map and used as an additional feedback for the navigation filter. The developed algorithms were field tested in several indoor and outdoor environments and yielded accurate matching results as well as a significant enhancement to positional accuracy. The achieved results demonstrate that the contribution of the developed map aided system enhances the reliability, usability, and accuracy of navigation trajectories in GNSS-denied environments.
Description
Keywords
General
Citation
Attia, M. (2013). Map Aided Indoor and Outdoor Navigation Applications (Doctoral thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/26826