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Master Thesis

Couplage de mesures GPS et inertielles pour de la navigation pédestre dans les bâtiments

Abstract : Developing a precise estimation system of pedestrian tracks inside buildings in order to qualify others navigation methods is targeted in this project. The aim of this contribution is to improve the existing solution, which follows a Kalman Filter “strapdown” implementation strategy using inertial and magnetic sensors located on the foot, thanks to novel GNSS observations. GNSS based velocity estimate was studied using two different observations: Doppler frequency and Time-Differenced Carrier-Phase (TDCP). Following a performance comparison of the velocity estimated with both observables, the Time-Differenced Carrier-Phase was chosen for the hybridization filter. The contribution of GNSS TDCP is found to be significant on the existing solution. Indeed, the velocity is efficiently corrected, together with the biases of the accelerometer and the gyroscope. Achieving a better biases estimate improves the overall quality of pedestrian foot tracks estimation.
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Master Thesis
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Submitted on : Friday, June 24, 2016 - 3:47:39 PM
Last modification on : Saturday, February 8, 2020 - 12:02:15 PM
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  • HAL Id : dumas-01337177, version 1



Sylvain Chable. Couplage de mesures GPS et inertielles pour de la navigation pédestre dans les bâtiments. Sciences de l'ingénieur [physics]. 2015. ⟨dumas-01337177⟩



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