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

Anindya S. Paul, Eric A. Wan, Peter G. 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
StatePublished - Dec 1 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

Publication series

Name24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
Volume5

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

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Communication

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