Accuracy Improvement of Pedestrian Dead-Reckoning Based Map Heading Constraint in GNSS-Denied Environments (original) (raw)

he demand for navigation systems is rapidly increasing, especially in GNSS-denied environments. The ubiquitous use of smart mobile devices equipped with various sensors encouraged many researchers to investigate their use in improving indoor navigation, where GNSS is not available. Inertia navigation sensors installed in mobile devices are normally low cost and drift significantly. Consequently, there is a need for auxiliary systems to aid the navigation process, which can be achieved using external sensors or additional information extracted from, for example, base maps. In this research paper, maps have been selected as a navigation aid. Previously, maps were used for navigation aiding through geospatial data models and map-matching algorithms. These methods are based on creating geospatial data models on the fly and integrating them in the navigation database, which makes them computationally expensive and time-consuming. In this research paper, the maps were used in an innovativ...