International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B4, 2012 
XXII ISPRS Congress, 25 August — 01 September 2012, Melbourne, Australia 
SEAMLESS NAVIGATION USING VARIOUS SENSORS: 
AN OVERVIEW OF THE SEAMLESS NAVIGATION CAMPAIGN 
M. Nakagawa *', Y. Yamada ^ H. Namie *, T. Ebinuma ¢, N. Kubo ^, T. Kawaguchi *, M. Yoshida f A. Yasuda ? 
* Shibaura Institute of Technology, 3-7-5, Toyosu, Koto-ku, Tokyo, 135-8548, Japan - mnaka@shibaura-it.ac.jp 
® Tokyo University of Marine Science and Technology - (m105004, nkubo, yasuda)@kaiyodai.ac.jp 
* The National Defense Academy of Japan - nami@nda.ac.jp 
4 University of Tokyo - ebinuma@nsat.t.u-tokyo.ac.jp 
* Hitachi Industrial Equipment Systems Co.,Ltd - takamasa.kawaguchi.cj@hitachi.com 
* Salesian Polytechnic - yoshida@salesio-sp.ac.jp 
Commission IV, WG IV/1 
KEY WORDS: Seamless positioning, Global Navigation Satellite System, Indoor positioning 
ABSTRACT: 
Seamless positioning techniques in indoor and outdoor environments are necessary for obtaining sensor locations. However, no 
definitive indoor-outdoor navigation system simultaneously provides high accuracy, high availability and low installation cost. 
Furthermore, crowded indoor-outdoor navigation systems consisting of multiple techniques will destructively interfere with each 
other, but an exclusive navigation environment will have difficulty providing stable location services for users. This anticipated 
issue needs to be investigated with experimental data and simulation results. However, experiments that are deliberately 
overcrowded with disparate location systems are rare. Therefore, the initial focus in our research was the construction of a test 
environment for indoor-outdoor seamless navigation experiments. Based on “Standards and Recommended Practices” (SARPs), we 
focused on accuracy, availability, continuity and integrity to verify the effects of seamless navigation under a combination of as 
many disparate systems and sensors as possible. We then conducted data acquisition and data analysis in seamless navigation 
through four integrated experiments. Based on the results of our experiments, we summarize some observations about seamless 
navigation using multiple navigation systems, and offer examples of the representative issues in our research. We also suggest some 
directions in indoor-outdoor navigation environment construction for seamless positioning using disparate systems and sensors. 
  
1. INTRODUCTION 
Currently, in many fields such as navigation, disaster relief and 
construction automation, seamless positioning techniques in 
indoor and outdoor environments are necessary for obtaining 
sensor locations. However, no definitive indoor-outdoor 
navigation system simultaneously provides high accuracy, high 
availability and low installation cost. The number of sensors 
installed in mobile devices has increased over the years, and in 
particular, many mobile devices equipped with multiple 
location sensors will continue to be developed in the future. 
Therefore, for commercial uses, multiple navigation systems 
will be installed in indoor-outdoor environments in urban areas. 
However, crowded  indoor-outdoor navigation systems 
consisting of multiple techniques will destructively interfere 
with each other, but an exclusive navigation environment will 
have difficulty providing stable location services for users. This 
anticipated issue needs to be investigated with experimental 
data and simulation results. 
However, experiments that are deliberately overcrowded with 
disparate location systems are rare. Therefore, the initial focus 
in our research was the construction of a test environment for 
indoor-outdoor seamless navigation experiments. Based on 
*Standards and Recommended Practices" (SARPs), we focused 
on accuracy, availability, continuity and integrity in order to 
test seamless navigation under a combination of as many 
different systems and sensors as possible. 
2. EXPERIMENTS 
In this environment, we placed lighting tags, an Indoor 
Messaging System (IMES) [1], Radio Frequency Identification 
(RFID) tags, a Quasi-Zenith Satellite Systems (QZSS) [2] 
receiver, a high-sensitivity GPS/GLONASS receiver, an 
Attitude and Heading Reference System, a time-of-flight 
infrared camera, a laser scanner and an omnidirectional camera, 
as shown in Table 1. We integrated these sensors for use as an 
indoor-outdoor navigation system, an indoor-limited navigation 
system and a pedestrian tracking system. 
Table 1. Sensors used in the test environment 
  
  
  
Sensor type Sensor name 
Quasi-Zenith Satellite (QZS) receiver DELTA receiver + GrAnt-3G antenna (JAVAD) 
High-sensitivity GPS/GLONASS receiver EVK-5H receiver (u-blox) 
  
SmartModule-IMES Transmitter (HIT ACHI), 
EVK-5H receiver (u-blox) 
Lighting tags Lighting tags (NEC) 
Indoor Messaging System (IMES) 
  
  
Radio Frequency Identification (RFID) tags MOD RFID125 (OLIMEX) 
  
Attitude and Heading Reference System (AHRS) |MTi/MTi-G (Xsens) 
  
  
  
Omnidirectional camera Ladybug2 (Point Grey) 
Laser scanner LMS100 (SICK) 
Time-of-flight infrared camera SR8000 (MESA Imaging) 
  
  
  
  
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