A Novel Approach to Mapping Wi-Fi and Aiding Inertial Navigation Systems: Exploring Indoor Applications

摘要: Inertial navigation systems (INSs) provide a robust method for obtaining position, velocity, and attitude (PVA). Unfortunately, these suffer from drift in the solution due to noise inherent inertial sensors used. By leveraging signals of opportunity, this may be bounded, INS becomes more reliable. In article, we present novel approach: using Wi-Fi aid INSs. Unlike existing techniques that require accurate measurements mapping radio-frequency (RF) environment, our approach requires minimal calibration based off 360d walk around area interest with clear sky background allow positional by GPS unit. A model on opportunity is generated aide INS. Applications include aiding personnel or autonomous robots global satellite (GNSS)-denied environments positioning information.