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Development of methods for designing small-sized systems for individual navigation and guidance

Along with the traditional INS/GNSS navigation systems the field of pedestrian navigation and navigation of mobile robots has been growing in recent years. Potential users of personal navigation solutions are rescue services and ambulance as well as ordinary people. This is of particular interest to visually impaired persons, who become more independent due to pedestrian navigation systems.

Figure 1. Example of navigation solution in a multistorey building.

(From: J. Ruppelt, N. Kronenwett, G. Scholz, and G. F. Trommer, «High-precision and robust indoor localization based on foot-mounted inertial sensors», in Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016, 2016, pp. 67–75.)

A large number of heterogeneous data from different sources requires data fusion methods and algorithms that take into account the characteristics of each sensor in order to provide high-precision and reliable positioning.

Figure 2. An example of solving simultaneous localization and mapping (SLAM) problem indoors using a laser rangefinder.

(From: C. Doer, G. Scholzand G. F. Trommer, «Grid-based laser SLAM for Micro Aerial Vehicles», in 23rd Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2016 - Proceedings, 2016, pp. 463–466.)

The main lines of the research areas are aimed at the development of data fusion algorithms for inertial, odometer and range measuring sensors to increase the accuracy of personal navigation. A hardware module including an inertial controller, satellite receiver, and odometer was developed to test the accuracy of personal navigation solutions in different conditions.

Figure 3. Personal navigation system module.

(From: J. Ruppelt, N. Kronenwett, G. Scholz, and G. F. Trommer, «High-precision and robust indoor localization based on foot-mounted inertial sensors», in Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016, 2016, pp. 67–75.)