The problem of indoor navigation of mobile objects, using a map and measurements of distances to the walls is considered. A nonlinear filtering problem aimed at calculating the optimal, in the root-mean-square sense, of the sought parameters is formulated in the context of the Bayesian approach. The algorithm for its solution based on the point-mass method is described. The simulation results illustrating the advantages of the proposed problem statement and the resultant algorithm are discussed.
@article{arxiv.1908.07279,
title = {Indoor Navigation Using Information From A Map And A Rangefinder},
author = {Mostafa Mansour and Oleg Stepanov},
journal= {arXiv preprint arXiv:1908.07279},
year = {2019}
}
Comments
23rd Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2016 - Proceedings