Traveled Distance Estimation Algorithm for Indoor Localization

This paper presents an ankle mounted Inertial Navigation System (INS) used to estimate the distance traveled by a pedestrian. This distance is estimated by the number of steps given by the user. The proposed method is based on force sensors to enhance the results obtained from an INS. Experimental results have shown that, depending on the step frequency, the traveled distance error varies between 2.7% and 5.6%.

Use of negative information in positioning and tracking algorithms

To avoid additional hardware deployment, indoor localization systems have to be designed in such a way that they rely on existing infrastructure only. Besides the processing of measurements between nodes, localization procedure can include the information of all available environment information. In order to enhance the performance of Wi-Fi based localization systems, the innovative solution presented in this paper considers also the negative information. An indoor tracking method inspired by Kalman filtering is also proposed.