Lachapelle, GérardLin, TaoLi, Lingran2016-10-042016-10-0420162016Li, L. (2016). Multi Sensor-Multi Mode Integration for Indoor Navigation with Smartphones (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/27040http://hdl.handle.net/11023/3370Indoor navigation is now used in many applications. For enhanced positioning accuracy indoors, this thesis develops the strategies and algorithms for multiple navigational integration modes coupled with multi-sensors fusion in smartphones. The sensors consist of an INS-magnetometer triad and a pressure sensor, in addition to WiFi signals. The main focus is to make full use of the complementary features of different sensors and different navigation modes to improve accuracy. One of the sensors, namely pressure sensor, complements the limitations of PDR and WiFi by extending the position dimension from 2D to 3D. A centralized Kalman filter is designed and implemented for the proposed integration strategies including PDR and INS, WiFi and INS, as well as combination of PDR, WiFi and INS. Extensive indoor tests conducted in various buildings are used to evaluate the above strategies. Related navigation performance metrics are evaluated and inter-compared and their error statistics are summarized.engUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.GeotechnologyIndoor NavigationComplementary integrationKalman Filtermaster thesis10.11575/PRISM/27040