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Indoor Navigation with a Smartphone Fusing Inertial and WiFi Data via Factor Graph Optimization

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Mobile Computing, Applications, and Services (MobiCASE 2015)

Abstract

Mobile devices are getting more capable every year, allowing a variety of new applications, such like supporting pedestrian navigation in GPS-denied environments. In this paper we deal with the problem of combining in real-time dead reckoning data from the inertial sensors of a smartphone, and the WiFi signal fingerprints, which enable to detect the already visited places and therefore to correct the user’s trajectory. While both these techniques have been used before for indoor navigation with smartphones, the key contribution is the new method for including the localization constraints stemming from the highly uncertain WiFi fingerprints into a graphical problem representation (factor graph), which is then optimized in real-time on the smartphone. This method results in an Android-based personal navigation system that works robustly with only few locations of the WiFi access points known in advance, avoiding the need to survey WiFi signal in the whole area. The presented approach has been evaluated in public buildings, achieving localization accuracy which is sufficient for both pedestrian navigation and location-aware applications on a smartphone.

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Notes

  1. 1.

    https://github.com/LRMPUT/DiamentowyGrant.

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Acknowledgment

This work is financed by the Polish Ministry of Science and Higher Education in years 2013–2015 under the grant DI2012 004142.

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Authors and Affiliations

  1. Institute of Control and Information Engineering, Poznań University of Technology, Ul. Piotrowo 3A, 60-965, Poznań, Poland

    Michał Nowicki & Piotr Skrzypczyński

Authors
  1. Michał Nowicki
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  2. Piotr Skrzypczyński
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Corresponding author

Correspondence to Michał Nowicki .

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Editors and Affiliations

  1. Georg-August-Universität Göttingen, Göttingen, Germany

    Stephan Sigg

  2. University of Helsinki, Helsinki, Finland

    Petteri Nurmi

  3. RMIT University, Melbourne, VIC, Australia

    Flora Salim

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© 2015 Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Nowicki, M., Skrzypczyński, P. (2015). Indoor Navigation with a Smartphone Fusing Inertial and WiFi Data via Factor Graph Optimization. In: Sigg, S., Nurmi, P., Salim, F. (eds) Mobile Computing, Applications, and Services. MobiCASE 2015. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 162. Springer, Cham. https://doi.org/10.1007/978-3-319-29003-4_16

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  • DOI: https://doi.org/10.1007/978-3-319-29003-4_16

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29002-7

  • Online ISBN: 978-3-319-29003-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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