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Hans Gellersen

Ultrasound-aided pedestrian dead reckoning for indoor navigation

Research output: Contribution to book/anthology/report/proceedingArticle in proceedingsResearchpeer-review


Ad hoc solutions for tracking and providing navigation support to emergency response teams is an important and safety-critical challenge. We propose a navigation system based on a combination of foot-mounted inertial sensors and ultrasound beacons. We evaluate experimentally the performance of our dead reckoning system in different enviroments and for different trail topologies. The inherent drift observed in dead reckoning is addressed by deploying ultrasound beacons as landmarks. We study through simulations the use of the proposed approach in guiding a person along a defined path. Simulation results show that satisfactory guidance performance is achieved despite noisy ultrasound measurements, magnetic interference and uncertainty in ultrasound node locations. The models used for the simulations are based on experimental data and the authors’ experience with actual sensors. The simulation results will be used to inform future development of a full real time system.
Original languageEnglish
Title of host publicationACM
Number of pages6
Publication year19 Sep 2008
Publication statusPublished - 19 Sep 2008
Externally publishedYes

    Research areas

  • cs_eprint_id, 2079 cs_uid, 357

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