Therefore, the resulting navigation trajectories may cross walls, floors or other obstacles. This shortcoming may cause a skewed path over time and produce position estimates that might not be consistent with the building layout. However, PDR still lacks robustness because of the accumulated heading error. The PDR shows improved performance over SINS without GNSS updates. The position error using step lengths from PDR accumulates much slower than that from the accelerometer derived displacement from SINS. This displacement (step length) can be estimated with various algorithms within a certain accuracy using the inertial sensor measurements. Similar to the SINS, PDR accumulates successive displacement from a known starting point to derive the position.
JOEL REAL TIMING TRACKMAP FRAME RATE PORTABLE
Pedestrian Dead Reckoning (PDR) is an example of portable device indoor/outdoor positioning techniques, and has become the focus of industrial and academic research recently. As such, positioning technologies relying solely on motion sensors may not satisfy all requirements for seamless indoor and outdoor navigation applications. In the absence of GNSS signals in indoor environments, the conventional strapdown Inertial Navigation System (SINS) that uses low cost inertial sensors, suffers significant performance degradation due to the accumulated sensor drifts and bias. However, some mass market applications require seamless positioning capabilities in all kinds of environments such as malls, offices or underground parking lots. GNSS and multi-sensors can be integrated to provide promising positioning results in most outdoor environments. Notably, devices such as smartphones, tablets, smart watches or other portable devices may feature Global Navigation Satellite Systems (GNSS) receivers, low cost Micro Electro-Mechanical Systems (MEMS) inertial sensors, barometers and magnetometers. Increasingly, such devices are equipped with one or more sensors or other systems for determining the position or motion of the portable device. Portable electronic devices, such as those configured to be handheld or otherwise associated with a user, are employed in a wide variety of applications and environments.
The present disclosure relates to a method and apparatus for enhancing a navigation solution of a device within a platform (such as for example person, vehicle, or vessel) through the use of map aided and/or map constraining to the navigation solution, wherein the device can be strapped or non-strapped to the platform, and wherein in case of non-strapped mobility of the device may be constrained or unconstrained within the platform, and wherein the device can be tilted to any orientation and still provide seamless navigation. 8, 2014, which is entitled “METHOD AND APPARATUS FOR USING MAP MATCHING AND CONSTRAINING FOR ENHANCED PORTABLE NAVIGATION,” which is incorporated by reference in its entirety.
This application claims priority from and benefit of U.S.