A comparison of sensorfusion methods for localization on mobile phones

In this paper we propose several methods to combine heterogeneous location technologies. At first we evaluated dead reckoning and its accuracy on commercial off-the-shelf (COTS) mobile phones. We combined this data with absolute positioning techniques to improve the accuracy and availability of the location system. Several sensor fusion frameworks were validated in a simulated environment. All frameworks show improved accuracy and availability. But the results indicate that choosing the right framework is largely dependent on the information that the location systems supply to the fusion framework.