Reliability considerations of multi-sensor multi-network pedestrian navigation

This study discusses a simple multi-sensor multi-network positioning system that integrates global positioning satellite (GPS) measurements, accelerometers and a digital compass with wireless network localisation utilising a pedestrian motion model and dead reckoning. The feasibility of the multi-technology system for seamless outdoor to indoor pedestrian navigation is discussed with the emphasis on reliability issues and adaptability requirements. The multi-sensor multi-network positioning system is developed for challenging navigation environments such as indoors and deep urban canyons. This study considers how to estimate and improve such a multi-sensor multi-network system´s reliability and estimate its accuracy. An outdoor to indoor pedestrian test is conducted. Adaptive filtering performance of the multi-technology solution as well as general measurement quality monitoring and error detection when an over-determined solution is at hand is shown. Reliability estimation utilising adaptation in the form of environment detection to estimate the final positioning accuracy is also presented.