Correcting Inertial Dead Reckoning Location Using Collision Avoidance Velocity-Based Map Matching
Source abstract
Abstract
We propose an algorithm for map-aided inertial dead reckoning (DR) for indoor navigation. The technique is based on a concept of collision avoidance velocity. New positions estimated by DR are checked for collision detection with walls and if such a situation is detected, the collision avoidance velocity is calculated to avert the obstacles. The differences between an individual’s indicated velocity and collision avoidance velocity are then used to correct errors for further path development. The best performance of the proposed technique is achieved when the individual moves along building obstacles. This type of movement is typical for firefighters, during search and rescue operations in thick smoke. Such conditions provided the environment for testing our algorithm.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Evacuation and Crowd Dynamics · Robotic Path Planning Algorithms · Fire Detection and Safety Systems
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Affiliations
Faculty of Fire Safety Engineering, The Main School of Fire Service, 01-629 Warsaw, Poland
Faculty of Physics, Astronomy and Informatics, Nicolaus Copernicus University, 87-100 Torun, Poland
Funding
Bentley Systems
References (40)
Show source-provided references
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