Sigma-point Kalman smoothing for indoor tracking and auto-calibration using time-of-flight ranging

Anindya S. Paul, Eric A. Wan, Peter Jacobs

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

Reliably estimating the location of people and tracking them in an indoor environment poses a fundamental challenge for existing commercial tracking systems. We are currently developing a real time indoor location tracking system specifically for long-term monitoring of patients in a health care setting. The development is in collaboration between EmbedRF LLC and Oregon Health & Science University (OHSU). This paper focuses on the algorithmic methods being developed that are also applicable to a broad range of pedestrian monitoring and ubiquitous computing applications. At the core of our system is a sigma-point Kalman smoother (SPKS) based Bayesian inference approach. Time-of-flight (TOF) range measurements from multiple access points are fused with a model of human walking to determine a person's 2D position and velocity. The SPKS also performs "auto-calibration" or simultaneous localization and mapping (SLAM) to determine scaling, offset, and the 2D location of the wall-mounted access points. The indoor tracking accuracy of the proposed system is better than 1 meter (m).

Original languageEnglish (US)
Title of host publication24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
Pages3461-3469
Number of pages9
Volume5
Publication statusPublished - 2011
Externally publishedYes
Event24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011 - Portland, OR, United States
Duration: Sep 19 2011Sep 23 2011

Other

Other24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
CountryUnited States
CityPortland, OR
Period9/19/119/23/11

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ASJC Scopus subject areas

  • Computer Networks and Communications
  • Communication

Cite this

Paul, A. S., Wan, E. A., & Jacobs, P. (2011). Sigma-point Kalman smoothing for indoor tracking and auto-calibration using time-of-flight ranging. In 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011 (Vol. 5, pp. 3461-3469)