tailieunhanh - Báo cáo hóa học: " A human motion model based on maps for navigation systems"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: A human motion model based on maps for navigation systems | Kaiser et al. EURASIP Journal on Wireless Communications and Networking 2011 2011 60 EURASIP Journal on . http content 2011 1 60 Wireless Communications and Networking a SpringerOpen Journal RESEARCH Open Access A human motion model based on maps for navigation systems Susanna Kaiser Mohammed Khider and Patrick Robertson Abstract Foot-mounted indoor positioning systems work remarkably well when using additionally the knowledge of floorplans in the localization algorithm. Walls and other structures naturally restrict the motion of pedestrians. No pedestrian can walk through walls or jump from one floor to another when considering a building with different floor-levels. By incorporating known floor-plans in sequential Bayesian estimation processes such as particle filters PFs long-term error stability can be achieved as long as the map is sufficiently accurate and the environment sufficiently constraints pedestrians motion. In this article a new motion model based on maps and floor-plans is introduced that is capable of weighting the possible headings of the pedestrian as a function of the local environment. The motion model is derived from a diffusion algorithm that makes use of the principle of a source effusing gas and is used in the weighting step of a PF implementation. The diffusion algorithm is capable of including floor-plans as well as maps with areas of different degrees of accessibility. The motion model more effectively represents the probability density function of possible headings that are restricted by maps and floorplans than a simple binary weighting of particles . eliminating those that crossed walls and keeping the rest . We will show that the motion model will help for obtaining better performance in critical navigation scenarios where two or more modes may be competing for some of the time multi-modal scenarios . Keywords indoor positioning multi-sensor navigation particle filtering human motion models maps 1 .