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Ultrasound aided pedestrian dead reckoning for indoor navigation

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Figure

Figure 1: Transformation from sensor to world coor-dinates via the direction cosine matrix: xW = RGSxS.
Figure 5: PDR path with user entering offices alongthe corridor, TZI.
Figure 8: Guidance algorithm: (1) estimate the per-son’s position, (2) project onto path, (3) find targetposition, (4) compute guidance angle.
Figure 9: A simulation run showing the user follow-ing guidance along a trail but failing to reach theend because of drift in the PDR estimates.

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