A MULTI-SENSOR PERSONAL POSITIONING SYSTEM FOR COMBINED INDOOR/OUTDOOR ENVIRONMENTS

Current personal navigation systems rely mainly on GNSS for location determination and an integration of other sensors has not been performed. To improve the reliability of continuous position determination in urban environments, however, the integration of dead reckoning sensors is essential. In the research project NAVIO at the Vienna University of Technolgy a multi-sensor system has been developed for pedestrian navigation and guidance. In the system a new multi-sensor fusion model based on an Kalman filter is employed for the optimal determination of the current user's position, velocity and direction of motion. In this paper test results of the location sensors and their system integration is presented. It could be seen that a high accuracy and reliability can be achieved for location of the user in combined indoor/outdoor environments.