Indoor localization by particle map matching

摘要

This article presents the implementation of an indoor localization approach that combines map matching and a circular particle filter defined in a Bayesian framework. The technique relies only on velocity and heading observations coupled with a map of the road network. No prior knowledge of the initial position is given. A circular distribution is used to match the vehicle's heading with the roads direction. This allows to detect turns and provide a more accurate position estimate. The algorithm is assessed with a synthetic dataset in a real context.