1/29/13 Indoor Positioning System based on Gyroscope and Accelerometer

www.stackprinter.com/export?format=HTML&service=stackoverflow&question=7499959 1/2

Indoor Positioning System based on Gyroscope and Accelerometer

[+11] [3] Alexis

[2011-09-21 12:45:48]

[ android location position accelerom eter gy roscope ]

[ http://stackoverflow.com /questions/7 499959/indoor-positioning-sy stem -based-on-gy roscope-and-accelerom eter ]

I am developing an Android App to track indoor position. My phone is an Google Nexus S usingtwo sensors, the first being an Accelerometer and the second being a Gyroscope.

My idea is that from a starting reference point (a known GPS position), using the 2 sensors(accelerometer for motion and Gyro for directions) track the phone when moving. And displayon a map when the user is going.

But the problem is that i have no idea how to combine both of these sensors to give me an actualposition?

I have read some article on internet that talk about "kalman filter" and after some more researchi found out that that filter is very very complex /too much for me) especially to code it in java forAndroid (cpu killer)

Does someone has some experience that he can share with me about indoor positioning systemusing Gyro and accelerometer?

Thank you for your help!

[+14] [2011-09-21 13:09:36] Ali

Gy ros and accelerometers are not enough.

Y ou get position by integrating the linear acceleration twice but the error is horrible. It is uselessin practice.

Here is an explanation why (Google Tech Talk) [1 ] at 23:20. I highly recommend this v ideo.

As for indoor positioning, I have found these useful:

RSSI-Based Indoor Localization and Tracking Using Sigma-Point Kalman Smoothers [2]

Pedestrian Tracking with Shoe-Mounted Inertial Sensors [3]

Enhancing the Performance of Pedometers Using a Single Accelerometer [4]

I have no idea how these methods would perform in real-life applications or how to turn them into a niceAndroid app.

A similar question is this [5].

[1] http://www.y outube.com/watch?v=C7 JQ7 Rpwn2k[2] http://www.cse.ogi.edu/~anindy a/Paul_Wan_Plans08.pdf[3] http://www.intersense.com/uploads/documents/Pedestrian_Tracking_with_Shoe-Mounted_Inertial_Sensors.pdf[4] http://www.analog.com/static/imported-files/application_notes/47 07 6299220991AN_900.pdf[5] http://stackoverflow.com/q/7 356829/34197 0

(1 ) y ep I also found those documents, but they don't explained HOE they achiev e to do such things most of thosepaper just nice result on a path track on a 2D map. But no code? no complete calculation? - Alexis

1/29/13 Indoor Positioning System based on Gyroscope and Accelerometer

www.stackprinter.com/export?format=HTML&service=stackoverflow&question=7499959 2/2

Any updates on this topic in the past 6 months? - ina

@ina Well, y es, a slightly updated answer is here. - Ali

I just got this project started. We'll look onto it further. But thanks to the v ideo - Jayson Ragasa

@Jay sonRagasa Well, good luck! - Ali1

[+1] [2011-09-22 01:28:25] aerosuch

For some other interesting reading on emerging indoor positioning technologies, check out this blog

post from Qubulus [1 ]. There are several startups and research projects try ing to find a good replacement

for GPS indoors. Attempts range from Dead Reckoning, to QR Codes [2], to light pulses, to radiofingerprinting. It looks like any v iable solution will combine multiple technologies (similar to how most

smartphones rely on A-GPS, where the satellite signal is assisted by cell tower multilateration [3]).

Best of luck with y our application!

[1] http://www.qubulus.com/2011/06/07 /the-indoor-positioning-market-shaped-list-of-indoor-positioning-companies/[2] http://www.careace.net/2009/08/20/navigation-indoor-withgomap-using-microsoft-tag/[3] http://en.wikipedia.org/wiki/Mobile_phone_tracking

2

[0] [2012-12-18 03:36:56] Allen Jee

I think this is a great post [1 ] answering y our question. This kalman filter combine data fromaccelerometers and gy ros. Hope it helps.

[1] http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it/

3