전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제68권3호
  • /
  • Pages.471-479
  • /
  • 2019
  • /
  • 1975-8359(pISSN)
  • /
  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지
DOI QR코드

DOI QR Code

다중 자기센서를 이용한 실내 자기 지도 기반 보행자 위치 검출 정확도 향상 알고리즘

Indoor Position Detection Algorithm Based on Multiple Magnetic Field Map Matching and Importance Weighting Method

  • Kim, Yong Hun (Dept. of software convergence, Sejong University) ;
  • Kim, Eung Ju (Dept. of software convergence, Sejong University) ;
  • Choi, Min Jun (Dept. of software convergence, Sejong University) ;
  • Song, Jin Woo (School of Intelligent Mechatronic Engineering, Sejong University)
  • 투고 : 2018.11.13
  • 심사 : 2019.02.04
  • 발행 : 2019.03.01
⟨ 이전 논문 다음 논문 ⟩

초록

This research proposes a indoor magnetic map matching algorithm that improves the position accuracy by employing multiple magnetic sensors and probabilistic candidate weighting function. Since the magnetic field is easily distorted by the surrounding environment, the distorted magnetic field can be used for position mapping, and multiple sensor configuration is useful to improve mapping accuracy. Nevertheless, the position error is likely to increase because the external magnetic disturbances have repeated pattern in indoor environment and several points have similar magnetic field distortion characteristics. Those errors cause large position error, which reduces the accuracy of the position detection. In order to solve this problem, we propose a method to reduce the error using multiple sensors and likelihood boundaries that uses human walking characteristics. Also, to reduce the maximum position error, we propose an algorithm that weights according to their importance. We performed indoor walking tests to evaluate the performance of the algorithm and analyzed the position detection error rate and maximum distance error. From the results we can confirm that the accuracy of position detection is greatly improved.

키워드

과제정보

이 (성과물)은 산업통상자원부 '산업전문인력양성강화사업'의 재원으로 한국산업기술진흥원(KIAT)의 지원을 받아 수행된 연구임. (2018년 산업용 무인비행장치 전문인력 양성사업, 과제번호 N0002431)

참고문헌

  1. HJ. Jin, J. W. Kim, and DH. Hwang, "Design of a Robust Pedometer for Personal Navigation System against Ground Variation and Walking Behavior", The Transactions of the Korean institute of Electrical Engineers(KIEE), Vol. 55, No. 9, pp. 420-422, 2006.
  2. T. Kim, H. Lee, D. Chwa, and SK. Hong, "Estimation of the Sensor Location and the Step for Personal Navigation System," The Transactions of the Korean institute of Electrical Engineers(KIEE), Vol. 59, No. 11, pp. 2058-2065, 2010. https://doi.org/10.5370/KIEE.2010.59.11.2058
  3. DY. Kang, HH. Yun, C. Pack, and EJ. Cha, "Development of a Personal Navigation System Including Activity Monitoring Function," The Transactions of the Korean institute of Electrical Engineers(KIEE), Vol. 57, No. 2, pp 286-293, 2008.
  4. R. Sohrabi, M. A. Fallah, and F. Lahouti, "Indoor pedestrian navigation fusing WLAN, INS, and map data using pattern matching", in Telecommunications (IST), 2014 7th International Symposium on, pp. 349-354L IEEE, 2014.
  5. N. Jeong, H. Hwang, and E. T. Matson, "Evaluation of low-cost LiDAR sensor for application in indoor UAV navigation", in Sensors Applications Symposium (SAS), 2018 IEEE, pp. 1-5, 2018.
  6. J. W. Song and C. G. Park, "Enhanced pedestrian navigation based on course angle error estimation using cascaded Kalman filters", Sensors (Basel, Switzerland), Vol. 18, No. 4, 2018.
  7. M. S. Lee, H. Ju, J. W. Song, and C. G. Park, "Kinematic model-based pedestrian dead reckoning for heading correction and lower body motion tracking", Sensors, Vol. 15, No. 11, pp. 28129-28153, 2015. https://doi.org/10.3390/s151128129
  8. B. Li, T. Gallagher, A. G. Dempster, and C. Rizos, "How feasible is the use of magnetic field alone for indoor positioning?", in Indoor positioning and indoor navigation (IPIN), 2012 international conference, pp. 1-9: IEEE, 2012.
  9. P. Kemppi, J. Pajunen, and T. Rautiainen, "Use of artificial magnetic anomalies in indoor pedestrian navigation", in Vehicular Technology Conference Fall (VTC 2010-Fall), 2010 IEEE 72nd, pp. 1-5, 2010.
  10. W. Shao et al, "Location fingerprint extraction for magnetic field magnitude based indoor positioning", Journal of Sensors, Vol. 2016, 2016.
  11. B. Gozick, K. P. Subbu, R. Dantu, and T. Maeshiro, "Magnetic maps for indoor navigation", IEEE Transactions on Instrumentation and Measurement, Vol. 60, No. 12, pp. 3883-3891, 2011. https://doi.org/10.1109/TIM.2011.2147690
  12. K. I. Han, H. S. Kim, and K. R. Baek, "Velocity-Measuring Method for Vehicle using Magnetic Field", Journal of Institute of Control, Robotrics and Systems, Vol. 23, No. 8, pp. 692-698, 2017. https://doi.org/10.5302/J.ICROS.2017.16.0219
  13. H. Jang, and L. Choi, "Real Time Indoor Localization Using Geomagnetic Fingerprinting and Pedestrian Dead Reckoning," KIISE Transactions on Computing Practices, Vol. 23, No. 4, pp. 210-216, 2017. https://doi.org/10.5626/KTCP.2017.23.4.210
  14. W. Storms, J. Shockley, and J. Raquet, "Magnetic field navigation in an indoor environment", in Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS), pp. 1-10, 2010.
  15. H. Xin, X. Zhi, X. Jianxin, and X. Limin, "Research on pedestrian navigation system aided by indoor geomagnetic matching", in Control And Decision Conference (CCDC), 2017 29th Chinese, pp. 1946-1951, 2017.
  16. S H LEE, J C Kim and D H Seo, "A study on indoor positionig using maximum likelihood estimation method based on magnetic vector", in Journal of Korea Society Marine Engineering (JKOSME), Vol. 41, No. 7, pp. 690-698, 2017.
  17. Y. H. Kim, M. J. Choi, E. J. Kim, and J. W. Song, "Position detection Method Based on Grid Magnetic Field Map Using Multiple Magnetic sensors", in 33rd Institute of Control, Robotics and Systems annual conference, pp. 178-179, 2018.
  18. M. S. Lee, H. J. Ju and C. G. Park, "Step Length Estimation Algorithm for Firefighter using Linear Calibration", in Institute of Control, Robotics and Systems, Vol. 19, No. 7, pp. 640-645, 2013. https://doi.org/10.5302/J.ICROS.2013.12.1821
  19. S. Hur, J. Song, and Y. Park, "Indoor Position Technology in Geo-Magnetic Field", The Journal of Korea Institute of communications and information sciences(J-KICS), Vol. 38, No. 1, pp. 131-140, 2013.