A Study on Indoor Positioning System Based on Attitude Estimation by Sensors and Distance Estimation by SOKUIKI Sensor

摘要

In this paper, we propose a new positioning method based on an attitude estimation by the accelerometer, gyroscope and so on, a distance estimation by the SOKUIKI sensor and a reflection surface information. The proposed system estimates the attitude of the terminal by using measurement data from the sensors. At the same time, the SOKUIKI sensor provides an estimate of the distance between the terminal and reflection points. We estimate the location of the terminal so as to minimize squared error between the measurements and a hypothesis based on reflection surface information of surrounding structure.