This Project is proposed to develop a navigation system based on inertial sensors to track the movement and direction of soldiers or fire fighters accurately within a multi floor building. This system does not require Global Positioning System(GPS). The System consists of 6 DOF(Degree of Freedom) Digital MEMS Geo Magnetic Module which includes 3-axis MEMS accelerometer and magnetometer to provide direction and movement of the soldier. Barometric Pressure Sensor is used to determine the altitude. ARM Processor controls all the units. RF Transceiver is for the communication purpose. By this work the movement (left, right, up and down) and altitude of all the soldiers would be known to the military troop outside the building. Applications include a militant seeking operation or even in a fire fighting operation. This system would help to rescue the injured person in much lesser time.

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International Journal of Modern Trends in Engineering
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NAVIGATION SYSTEM FOR MULTI FLOOR
POSITIONING USING MEMS
S.Abirami1
, S.Joshua Daniel2
,
1
PG Scholar, Department of EEE, Hindusthan college of Engineering and Technology
2
Assistant Professor, Department of EEE, Hindusthan college of Engineering and Technology
Abstract-This Project is proposed to develop a navigation system based on inertial sensors to track
the movement and direction of soldiers or fire fighters accurately within a multi floor building. This
system does not require Global Positioning System(GPS). The System consists of 6 DOF(Degree of
Freedom) Digital MEMS Geo Magnetic Module which includes 3-axis MEMS accelerometer and
magnetometer to provide direction and movement of the soldier. Barometric Pressure Sensor is used
to determine the altitude. ARM Processor controls all the units. RF Transceiver is for the
communication purpose. By this work the movement (left, right, up and down) and altitude of all the
soldiers would be known to the military troop outside the building. Applications include a militant
seeking operation or even in a fire fighting operation. This system would help to rescue the injured
person in much lesser time.
Keywords- Positioning, ARM Processor, RF Transceiver, MEMS Geo Magnetic Module, Pressure
Sensor.
I. INTRODUCTION
Indoor positioning is defined as the system that provides a information about position of the person
inside the closed structure. An example for indoor positioning is illustrated in the figure 1.The
INS(Inertial Navigation System) is an appropriate method for personal navigation systems. It
provides a navigation solution using inertial sensors. The inertial sensors are accelerometers, gyros
and magnetometers which provides the positioning informations [10].A navigation system that tracks
the location of a person is useful for finding and rescuing firefighters or other emergency first
responders or for location-aware computing, personal navigation assistance, mobile 3D audio, and
mixed or augmented reality applications [6].
Figure 1. Example for indoor positioning

2. International Journal of Modern Trends in Engineering and Research (IJMTER)
Volume 02, Issue 01, [January - 2015] e-ISSN: 2349-9745, p-ISSN: 2393-8161
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GPS or cell signals are commonly used for navigation in an outdoor environment, the blockage of the
GPS signal occurs frequently in urban and forest areas [5] but indoor positioning remains as an
unsolved problem. A small size and low-cost INS is required in indoor navigation.To achieve these
requirements the system is proposed.
II. PROPOSED SYSTEM USING MEMS
MEMS are devices that integrate mechanical elements, sensors, actuators, and electronics on a
common silicon substrate. Many typically have dimensions in the 1 micron to 100 micron range.
They have proven to be a key enabling technology of developments in areas such as transportation,
telecommunications and health care, but the range of MEMS applications covers nearly every field.
The most significant advantage of MEMS is their ability to communicate easily with electrical
elements in semiconductor chips. Other advantages include small size, lower power consumption,
lower cost, increased reliability and highly precise. The components of the MEMS is shown in the
figure 1.
The individual sensors used in inertial/magnetic sensor modules are low cost Micro-Electro-
Mechanical Systems (MEMS) sensors. Low cost MEMS accelerometers are susceptible to drift
errors. Reduced Manufacturing Cost & Time. Micro components make the system faster, more
reliable, more portable, cheaper, low power consumption, easily & massively employed, easily
maintained & replaced. Easy to integrate into systems or modify. Miniaturization with no loss. Little
harm to environment and capable of incorporating.
Figure 2. Components of MEMS
Although there are many technologies available to miniaturize devices, the acronym MEMS is used
almost universally to refer to all devices that are produced by micro fabrication or micromachining
except Integrated Circuit (IC) or other conventional semiconductor devices, micromachining is any
process that deposits, etches or defines materials with minimum features measured in micrometers or
less. The general field of miniaturization is known as Micro Systems Technology(MST).Most of the
PDR systems use inertial sensors (accelerometer, gyroscope, and digital compass) to measure step
length and heading direction [7]. Generally, the PDR system that uses the inertial sensors can be
classified into two categories, depending on the place where the sensors are placed. For the first type,

3. International Journal of Modern Trends in Engineering and Research (IJMTER)
Volume 02, Issue 01, [January - 2015] e-ISSN: 2349-9745, p-ISSN: 2393-8161
@IJMTER-2014, All rights Reserved 295
the sensors are mounted on foot. The foot mounted method uses double integral to estimate distance
and use gyroscope or compass to measure the heading direction [9].
2.1 System Design
The hardware design consists of two sections ,one is the soldier’s section which is wearable by the
soldiers and another section is monitoring section with the military troops outside the building.
2.1.1 Soldier’s section
The soldier’s section has 3-axis MEMS magnetometer and 3-axis MEMS accelerometer. MEMS
magnetometer to determine direction and tilting information about soldiers. An accelerometer
measures acceleration, either due to motion or due to gravity and it measures acceleration using an
inertial frame of reference. This can also be used to measure its orientation.
Figure 3. Block diagram of Soldier’s Section
The orientation can be calculated from the three axis roll, pitch and yaw. The data processing is
carried by the LPC 2148 ARM processor. It is also used to control all the units of the system.
Pressure sensor to estimate the altitude. The section consists of RF transceiver for communication
between soldiers and military troops outside the building. ARM Processor receives the information
from the sensors and transmits information to RF transceiver. The Block diagram of soldier’s section
is shown in the figure 3.
2.1.2. Monitoring Section
The monitoring section has LCD display, ARM Processor and RF transceiver. LCD display to
display the position information. RF transceiver is used for wireless transmission and reception of
data. The ARM Processor receives information from the RF transceiver and sends it to the LCD
display. The monitoring section receives the information via RF transceiver. The block diagram of
monitoring section is shown in figure 4.
ARM
LPC 2148
RF Transceiver
MEMS
Magnetometer
Pressure Sensor
Power Supply
MEMS
Accelerometer

4. International Journal of Modern Trends in Engineering and Research (IJMTER)
Volume 02, Issue 01, [January - 2015] e-ISSN: 2349-9745, p-ISSN: 2393-8161
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Figure 4. Block diagram of monitoring section
III. SIMULATION
The simulation process is carried out by Proteus 8 software. It is easy to install, free of viruses and
perfect for laptops. The language C is very portable language that enjoys wide popular support and is
easily obtained for most systems. Existing program investments can be quickly adapted to other
processors has needed.
The Keil C compiler provides more features and allows you to write ARM applications in C and
have the efficiency and speed of assembly language. Language extensions in the compiler gives the
full access to all resources of the ARM. The compiler translates C source files into reloadable object
modules which contain full symbolic information for debugging with micro vision debugger. The
various steps through which entire simulation is carried out. Initially the process is started. The
pressure value, magnetometer value and accelerometer values are obtained. The pressure value is
checked whether it is at ground floor pressure level or another floor pressure level. Similarly
magnetometer and accelerometer values are checked. Then collected datas are displayed using virtual
terminal
3.1 Design of proposed system using proteus software
The design of proposed system with ARM Processor and Sensors is shown in the figure 5.Three
sensors such as accelerometer sensor, magnetometer sensor and pressure sensor are connected to the
ARM Processor. When the value of pressure sensor gets changed, the virtual terminal window shows
the floor details. Eight directions are shown by varying the magnetometer sensor. When the
accelerometer value changes, window shows the information about tilting.
RF Transceiver
ARM
LPC 2148
Power Supply
LCD display

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XTAL1
62
XTAL2
61
P0.0/TxD0/PWM1
19
P0.1/RxD0/PWM3/EINT0
21
P0.2/SCL0/CAP0.0
22
P0.3/SDA0/MAT0..0/EINT1
26
P0.4/SCK0/CAP0.1/AD0.6
27
P0.5/MISO0/MAT0.1/AD0.7
29
P0.6/MOSI0/CAP0.2/AD1.0
30
P0.7/SSEL0/PWM2/EINT2
31
P0.8/TxD1/PWM4/AD1.1
33
P0.9/RxD1/PWM6/EINT3
34
P0.10/RTS1/CAP1.0/AD1.2
35
P0.11/CTS1/CAP1.1/SCL1
37
P0.12/DSR1/MAT1.0/AD1.3
38
P0.13/DTR1/MAT1.1/AD1.4
39
P0.14/DCD1/EINT1/SDA1
41
P0.15/RI1/EINT2/AD1.5
45
P0.16/EINT0/MAT0.2/CAP0.2
46
P0.17/CAP1.2/SCK1/MAT1.2
47
P0.18/CAP1.3/MISO1/MAT1.3
53
P0.19/MAT1.2/MOSI1/CAP1.2
54
P0.20/MAT1.3/SSEL1/EINT3
55
P0.21/PWM5/AD1.6/CAP1.3
1
P0.22/AD1.7/CAP0.0/MAT0.0
2
P0.23
58
P0.25/AD0.4/AOUT
9
P0.27/AD0.0/CAP0.1/MAT0.1
11
P0.28/AD0.1/CAP0.2/MAT0.2
13
P0.29/AD0.2/CAP0.3/MAT0.3
14
P0.30/AD0.3/EINT3/CAP0.0
15
V3
23
RST
57
VREF
63
VSS
6
VSSA
59
P1.16/TRACEPKT0
16
P1.17/TRACEPKT1
12
P1.18/TRACEPKT2
8
P1.19/TRACEPKT3
4
P1.20/TRACESYNC
48
P1.21/PIPESTAT0
44
P1.22/PIPESTAT1
40
P1.23/PIPESTAT2
36
P1.24/TRACECLK
32
P1.25/EXTIN0
28
P1.26/RTCK
24
P1.27/TDO
64
P1.28/TDI
60
P1.29/TCK
56
P1.30/TMS
52
P1.31/TRST
20
V3
43
V3
51
VSS
18
VSS
25
VSS
42
VSS
50
RTXC1
3
RTXC2
5
V3A
7
VBAT
49
P0.31
17
P0.26/AD0.5
10
U1
LPC2138
5%
PRESSURE SENSOR
1k
10%
MAGNETOMETER SENSOR
1k
91%
ACCELEROMETER SENSOR
1k
+3.3V
+3.3V
+3.3V
+3.3V
Xmodem,Ymodem,Zmodem
VT52, VT100, ANSI
RXD
RTS
TXD
CTS
Figure 5. Design of Proposed System using Proteus
IV. RESULTS
The three sensors senses and gives a positioning informations. when pressure sensor value lies
between 1% to 29% . It gives an output as ground floor. The Magnetometer gives an output as north
east direction when it lies between 10% to 19%. The accelerometer gives an output as left when it
lies between 45% to 100%. Here the values of magnetometer is 10%, pressure sensor is 5% and
accelerometer is 91% which is shown in the Figure 6. The output is displayed as ground floor, north
east direction and left side is shown in the Figure 7.
5%
PRESSURE SENSOR
1k
10%
MAGNETOMETER SENSOR
1k
91%
ACCELEROMETER SENSOR
1k
+3.3V
+3.3V
+3.3V
Figure 6 .Values of Sensors for North East Direction and Ground Floor

6. International Journal of Modern Trends in Engineering and Research (IJMTER)
Volume 02, Issue 01, [January - 2015] e-ISSN: 2349-9745, p-ISSN: 2393-8161
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Figure 7. Simulation Output for North East Direction and Ground Floor.
The values of sensors for south direction and first floor is shown in the figure 8.The Magnetometer
gives an output as south direction when it lies between 54% to 63%.The simulation output for south
direction and first floor is shown in the figure 9. Here the value of magnetometer is 54%.The
pressure sensor and accelerometer values are unchanged. The values for north west direction and
second floor is illustrated in the figure 10. So the output is displayed as first floor, south direction and
left side.
.
9%
PRESSURE SENSOR
1k
54%
MAGNETOMETER SENSOR
1k
91%
ACCELEROMETER SENSOR
1k
+3.3V
+3.3V
+3.3V
Figure 8. Values of Sensors for South Direction and First Floor
Figure 9. Simulation Output for South Direction and First Floor
Figure 11 shows the simulation output for north west direction and second floor. The Magnetometer
gives an output as north west direction when it lies between 84% to 100%. Here the value of
magnetometer is 89% and the value of pressure sensor and accelerometer remains unchanged. The
output is displayed as north west direction ,second floor and right side. The pressure sensor gives an
output as third floor when it lies between 88% to 100%. The Magnetometer gives an output as north
direction when it lies between 1% to 9%. Figure 12 shows the values of sensors for north direction
and third floor

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Volume 02, Issue 01, [January - 2015] e-ISSN: 2349-9745, p-ISSN: 2393-8161
@IJMTER-2014, All rights Reserved 299
77%
PRESSURE SENSOR
1k
86%
MAGNETOMETER SENSOR
1k
44%
ACCELEROMETER SENSOR
1k
+3.3V
+3.3V
+3.3V
Figure 10. Values of Sensors for North West Direction and Second Floor
Figure 11. Simulation Output for North West Direction and Second Floor
95%
PRESSURE SENSOR
1k
4%
MAGNETOMETER SENSOR
1k
44%
ACCELEROMETER SENSOR
1k
+3.3V
+3.3V
+3.3V
Figure 12 . Values of Sensors for North Direction and Third Floor
Figure 13 shows the simulation output for north direction and third floor. Here the values of
magnetometer is 4%, pressure sensor is 96% The output is displayed as third floor, north direction
and right side.

8. International Journal of Modern Trends in Engineering and Research (IJMTER)
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Figure 13. Simulation Output for North Direction and Third Floor
V. CONCLUSION
This system is used to detect the positioning information of the soldiers within multi floor building
during urban combat operations. At the same time, it sends the information to the troops outside the
building. These information are obtained by the inertial sensors. Many difficulties may arise during
indoor localization. The positioning should be more accurate for the military purpose. In this system
inertial sensors are employed to achieve better accuracy at low cost. Other advantages include small
size, lower power consumption ,faster response, reliability and portability etc., It can also used in
the open indoor spaces like big hotel lobby. In addition to that altitude estimation is also performed
within a multi-floor building using this system and it is more convenient compared to the GPS based
navigation system. This system eliminates the problem arising in the Positioning system based on
the RFID reader.
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