The process of combining data from MEM sensors, gyroscopes, and acoustic sensors to track a person for navigation and surrounding object detection purposes

1. DEVELOPMENT OF A ROBUST
FILTERING ALGORITHM FOR
INERTIAL SENSOR BASED
NAVIGATION
MATTHEW SHAMOON
MICRO NANO MECHATRONICS LAB, FACULTY OF ENGINEERING
FACULTY SUPERVISOR: DR. JALAL AHAMED, FACULTY OF
ENGINEERING
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2. GPS
GPS technology revolutionized
human navigation
How GPS works
Not without flaws
Introduction
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3. GPS- ACCURACY
•GPS can not provide pin-point pedestrian location
https://www.geocaching.com/geocache/

4. THE MEMS BASED IMU (INERTIAL
MEASUREMENT UNIT)
MEMS (Micro Electro Mechanical
Systems)
 3-axis accelerometer
 3-axis gyroscope
 3-axis magnetometer (compass)
 Used in everyday products
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5. THE PRINCIPLES OF INERTIAL NAVIGATION
In Theory….
Using the acceleration from the IMU,
we can determine our exact position
(relative to an initial location and
velocity) by constantly double
integrating acceleration
This method is known as “dead
reckoning”
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6. PROBLEM DEFINITION
Without compensation the
double integration
accumulates error very
quickly, also known as drift.
The data from the double
integration is essentially
useless on its own.
How can we fix this?
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7. OUR APPROACH
Detect the
orientation of the
device
1
Rotate inertial data
to correct the
frame of reference
2
Detect steps and
correct velocity
3
Calculate position
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Calculate barrier
position
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8. OUR RESULTS
Able to track users in 3-dimensions
Able to map out nearby obstacles
Not very accurate, prone to errors
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9. EXTENDED KALMAN
FILTER
An optimal estimation algorithm
capable of estimating dynamic
variables of indirect and
uncertain measurements
Capable of correcting the drift
error from our previous results
https://www.semanticscholar.org/paper/A-Biased-Extended-Kalman-Filter-
for-Indoor-Localiz-Benini-
Mancini/7e136039c245d21a070869779286675180ac1fba/figure/5 9

10. OUR DESIRED ACCURACY
Using the Extended Kalman
filter….
The team should be able to
reach our desired results to
accurately track users in
three dimensions as well as
accurately mapping out
nearby obstacles
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11. FUTURE APPLICATIONS
Pedestrian navigation
Indoor navigation
First responders
Mobile robotics
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12. CONCLUSION AND FUTURE WORK
Improve the
robustness of the
ultrasonic mapping
1
Use custom inertial
sensors for
improved accuracy
and efficiency
2
Incorporate other
sensors to improve
performance
3
Implement this
research to real life
applications
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13. •Thank you
•Questions
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