IPIN 2022 International Conference on Indoor Positioning and Indoor Navigation, Beijing, China, 5 - 07 September 2022, vol.3248, pp.1-9
In both civilian and military areas, accurate and robust navigation systems have become a
critical tool for positioning and tracking capabilities of pedestrians under Global Navigation
Satellite Systems (GNSS)-denied conditions, e.g., underground workers, dismounted soldiers
on battlefield, and first responders within a building. In order to navigate through these harsh
environments, pedestrian navigation systems (PNSs) with multiple integrated sensors are
indispensable. In the research project which is funded by ASELSAN and entitled "Positioning
in GNSS Denied Environments (labeled as UDOKS)", we are working on the development of
a PNS integrating inertial sensors (i.e., gyroscopes and accelerometers), Ultra-Wideband
(UWB) ranging sensors, and aiding sensors such as magnetometers and a barometer.
Furthermore, a simulation environment dedicated to PNSs with multiple integrated sensors is
being implemented as a part of UDOKS project. The simulation environment will allow the
user to compare several pedestrian navigation algorithms which are based on different types of
sensor technologies and different levels of sensor errors. Moreover, the simulation environment
will be used as a means to test and evaluate new strategies and approaches on pedestrian
navigation during algorithm and configuration design phase. The simulation environment will
have an open and modular architecture so that it will be capable of inserting and integrating
complementary navigation algorithms and sensor technologies. This open and modular
architecture of the simulation environment will provide a huge potential benefit to design PNSs
especially for the needs in various GNSS-denied applications and usage scenarios.
This Work-in-Progress (WiP) paper provides a high-level description of the PNS being
developed and a general outline of the simulation environment being implemented in UDOKS
project. Furthermore, preliminary indoor performance results of the pure inertial sensors-based
PNS (i.e., utilizing only gyroscope and accelerometer measurements) developed as a single
navigation system are given.