Information Fusion for Cooperative Indoor Positioning Using Bézier Curves

A path modification method using the Bézier curve is proposed to enhance pedestrian dead reckoning (PDR) information. The proposed method utilizes the encounter information between multiagents. The PDR information of an individual agent contains errors due to integration drift of the inertial sensors, and the encounter locations of multiple agents may not match. Therefore, path modification of each agent using the encounter information is required. In this study, the trajectory of a pedestrian is represented with a geometric curve, and the shape of the curve is optimized for path modification. The benefit of the proposed method lies in the ability to fuse various types of information into the algorithm to improve the performance. The optimized curve always satisfies the encounter condition, and various types of information can be considered in the optimization process. In this study, PDR information, anchor information, relative information, and heuristic information are used. The performance of the proposed method is demonstrated by simulation using indoor navigation experimental data.