Personal localization of task force members in urban environments

This paper presents a tightly-coupled INS/GNSS integration for personal navigation systems using foot-mounted sensors. Our precise relative positioning INS based on high accurate Zero-Velocity-Updates (ZUPTs) is fused with GNSS pseudo-range and doppler measurements for absolute position and heading estimation. Unique is the decision depending on the classified motion state if doppler measurements improve the accuracy of the navigation solution. In addition, the integrity of the GNSS signals are checked. The good knowledge of our precise relative positioning inertial system is used to detect and exclude GNSS measurements with high multipath errors. This is essential for robust personal localization in dense urban environments. Detailed analysis of a test walk in urban canyons with two outdoor-indoor transitions show the high performance and robustness of our proposed approach. Our system is appropriate for the localization of task force members due to the accuracy and robustness of the real-time capable navigation solution and the independence of pre-installed infrastructure.