The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B5. Beijing 2008 
865 
Test 
data set 
SL 
model 
Mean 
[m] 
Std 
[m] 
Max 
[m] 
End 
Misclosure 
[m] 
CEP 
(50%) 
[m] 
Operator 
S 
Fuzzy 
0.43 
0.92 
1.17 
1.42 
0.45 
ANN 
0.41 
0.54 
1.07 
1.10 
0.43 
Operator 
E 
Fuzzy 
0.59 
0.43 
1.25 
1.14 
0.59 
ANN 
0.62 
0.47 
1.11 
1.26 
0.65 
Table 8. Statistical fit to reference trajectory of the indoor DR 
trajectories generated using SL predicted with fuzzy logic and 
ANN, and gyro heading; one indoor loop. 
Test 
data 
set 
SL 
model 
Mean 
[m] 
Std 
[m] 
Max 
[m] 
End 
Misclosure 
[m] 
CEP 
(50%) 
[m] 
327 
m 
Fuzzy 
1.57 
1.78 
4.66 
3.32 
2.94 
ANN 
1.15 
1.57 
4.52 
2.6 
2.53 
Table 9. Statistical fit to reference trajectory of the indoor DR 
trajectories generated using SL predicted with fuzzy logic and 
ANN, and gyro/compass heading; three full indoor loops. 
human dynamics model. All tests to date (outdoor and indoor 
environments) provided performance within the required 
specifications that is below 5 m CEP50; the indoor navigation, 
based on data collected to date, was limited to about 3 minutes. 
More tests are underway that consider longer and more complex 
indoor paths, including stairways, as this scenario has not been 
tested yet. The system’s operational environment has been 
originally designed for outdoor and moderately confined 
environments; however, if this is to be extended to indoor 
environment, additional sensors might be needed, as the human 
dynamics alone may not facilitate reliable navigation for more 
extended periods of time. Since the system is designed for 
emergency and military crews, it cannot be expected the any 
wireless infrastructure will be readily available, so the sensor of 
choice should be based on imaging techniques that do not 
require any additional infrastructure. 
ACKNOWLEDGEMENTS 
This research is supported by a 2004 National Geospatial- 
Intelligence Agency NURI project. 
An example outdoor trajectory, where DR solution was also 
tested after a deliberate removal of the GPS signals, is 
illustrated in Figure 6, and Table 10 presents the resulting 
accuracy statistics. 
Test 
data 
set 
SL 
model 
Mean 
[m] 
Std 
[m] 
Max 
[m] 
End 
Misclosure 
[m] 
CEP 
(50%) 
[m] 
187 
Fuzzy 
1.74 
0.93 
4.14 
2.19 
1.46 
m 
ANN 
2.05 
1.06 
4.53 
3.01 
1.97 
Table 10. Statistical fit to reference trajectory of the outdoor DR 
trajectories generated using SL predicted with fuzzy logic and 
ANN, and gyro/compass heading. 
T«j*ctory Reconstruction in DR 
aXM 
Figure 6. Reference using GPS/IMU carrier phase solution and 
DR trajectory reconstructed using SL determined by FL and 
ANN modules with gyro/compass heading. 
REFERENCES 
Bames, J., Rizos, C., Wang, J., Small, D., Voigt, G., & 
Gambale, N., 2003a. Locata: A new positioning technology for 
high precision indoor and outdoor positioning. Proceedings, 
ION GNSS, September 9-12, Portland, OR, USA, CD ROM, pp. 
1119-1128. 
Bames, J., Rizos, C., Wang, J., Small, D., Voigt, G., & 
Gambale, N., 2003b. High precision indoor and outdoor 
positioning using LocataNet. Proceedings, Int. Symp. on 
GPS/GNSS, 15-18 November, Tokyo, Japan, CD ROM, pp. 9- 
18 
Chiang, K., Noureldin, A., El-Sheimy, N., 2003. Multi-sensor 
integration using neuron computing for land-vehicle navigation. 
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Grejner-Brzezinska, D.A., Toth, C.K., Moafipoor, S., Jwa, Y., 
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Grejner-Brzezinska, D.A., Toth, C.K., Jwa, Y., and Moafipoor, 
S., 2006b. Seamless and reliable personal navigator. 
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Grejner-Brzezinska, D.A., Toth, C. K., Jwa, Y., Moafipoor, S., 
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4. SUMMARY AND CONCLUSIONS 
An overview of the navigation techniques suitable for personal 
navigation was presented, followed by a description of an 
example implementation based on the multisensor integration 
approach, using GPS, INS, magnetometer, barometer and 
Grejner-Brzezinska, D.A., Toth, C.K., and Moafipoor, S., 2007a. 
Adaptive knowledge-based system for personal navigation in 
GPS-denied environments. Proceedings, ION National 
Technical Meeting, January 22-24, San Diego, CA, USA, CD 
ROM, pp.517-521.