This work describes the activities and the results achieved within the SPARTACUS project with regards to the development of a pedestrian positioning system for first responders based on inertial sensors and GNSS data integration. In particular, three steps have been dealt with. At first the analysis of a typical human motion profile, highlighting the Zero Velocity Update constraints; secondly, the definition of a high accurate reference trajectory for test validation purposes, with both indoor and outdoor tracks. Finally, the tuning of Extended Kalman Filter parameters for the calibration of the best sensor data fusion algorithm mainly focused to dead reckoning positioning and field test result assessment.
Ghetti, A., Vittuari, L., Zanzi, M. (2016). A Satellite and Inertial Navigation Solution in Crises Management Operation for First Responder Application. Trans Tech Publications [10.4028/www.scientific.net/AST.101.158].
A Satellite and Inertial Navigation Solution in Crises Management Operation for First Responder Application
GHETTI, ANTONIO;VITTUARI, LUCA;ZANZI, MATTEO
2016
Abstract
This work describes the activities and the results achieved within the SPARTACUS project with regards to the development of a pedestrian positioning system for first responders based on inertial sensors and GNSS data integration. In particular, three steps have been dealt with. At first the analysis of a typical human motion profile, highlighting the Zero Velocity Update constraints; secondly, the definition of a high accurate reference trajectory for test validation purposes, with both indoor and outdoor tracks. Finally, the tuning of Extended Kalman Filter parameters for the calibration of the best sensor data fusion algorithm mainly focused to dead reckoning positioning and field test result assessment.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
