Position Estimation with Fuzzy Logic Based Dead Reckoning for GPS-Denied Environment

Year 2017, Volume: 9 Issue: 3, 21 - 28, 26.12.2017

Murat Lüy , Faruk Ulamış , Ertugrul Çam

https://doi.org/10.29137/umagd.371105

Cited By: 1

Abstract

The importance of
security precautions has been increased as a consequence of raised terrorist
incidents. Terrorist acts that move into the city from country sides have made
tracking of security and military personnel more important. GPS signals,
densely utilized for this tracking, pose a problem in signal blockage situation
and GPS-denied environments. The main goal of this research is that to develop
a practical positioning system for walking military personnel in GPS denied
environments. The system is very useful for GPS signal blockage environments,
such as tunnels, thick-walled structures and dense high rise buildings, etc.

Proposed system contains a 6-degree of freedom
(DOF) inertial measurement unit (IMU) and digital compass attached to the
military personnel’s shoe. Tri-axis accelerometer and gyroscope measurements
are obtained by IMU. These measurements are applied to fuzzy logic algorithms
and total displacement for each step is calculated. Digital compass is utilized
to determine direction of personnel. Thus, current location has been estimated
with the known starting point.

Keywords

Inertial Measurement Unit, Fuzzy Logic, GPS-denied environment, Dead reckoning

References

• Riebeck M. Stark, A. and J. Kawalek. How to design an advanced pedestrian navigation system: Field trial results. In 4th IEEE Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, IDAACS, April, 15 2007.
• E. Foxlin. Pedestrian tracking with shoe-mounted inertial sensors. IEEE Comput. Graph. Appl., 25(6):38–46, 2005.
• N. Samama. Global Positioning: Technologies and Performance, volume 1. Wiley-Blackwell, 2008.
• G. Retscher, E. Moser, D. Vredeveld, D. Herberling, "Performance and accuracy test of the WLAN indoor positioning system 'ipo"', Proc. 3rd Workshop on Positioning, Navigation and Communcation, pp. 7-15, 2006
• S.J. Ingran, D. Harmer, M. Quinlan,"UltraWideBand indoor positioning systems and their use in emergencies", Proc. Position, Location and Navigation Symposium, pp. 706-715,2004.
• C.-H. Huang, L.-H. Lee, C. C. Ho, L.-L. Wu, and Z.-H. Lai, “Realtime RFID indoor positioning system based on kalman-filter drift removal and heron-bilateration location estimation,” Instrumentation and Measurement, IEEE Transactions on, vol. 64, no. 3, pp. 728–739, 2015.
• K. JongBae and J. HeeSung, “Vision-based location positioning using augmented reality for indoor navigation,” IEEE Trans. Consum. Electron., vol. 54, no. 3, pp. 954–962, Aug. 2008
• Widyawan, M. Klepal, and S. Beauregard. A backtracking particle filter for fusing building plans with pdr displacement estimates. In Proc. 5th Workshop on Positioning, Navigation and Communication WPNC 2008, pages 207–212, 27–27 March 2008.
• Lauro Ojeda and Johann Borenstein. Non-gps navigation with the personal dead-reckoning system. In SPIE Defense and Security Conference, Unmanned Systems Technology IX, April 9-13 2007.
• A.R. Jimenez et al., “A Comparison of Pedestrian Dead-Reckoning Algorithms suing a Low-Cost MEMS IMU”, IEEE International Symposium on Intelligent Signal Processing, 26-28 August, 2009 Budapest, Hungary
• Kim, Jeong Won, et al. "A step, stride and heading determination for the pedestrian navigation system." Positioning 1.08 (2004): 0.
• Judd T, Levi R W. Dead reckoning navigational system using accelerometer to measure foot impacts: U.S. Patent 5,583,776[P]. 1996-12-10.
• Zadeh, Lotfi A. "Fuzzy sets." Information and control 8.3 (1965): 338-353.