Inertial Velocity Estimation for Indoor Navigation Through Magnetic Gradient-based EKF and LSTM Learning Model
Makia Zmitri,Hassen Fourati,Christophe Prieur,Makia Zmitri,Hassen Fourati,Christophe Prieur
This paper presents a novel method to improve the inertial velocity estimation of a mobile body, for indoor navigation, using solely raw data from a triad of inertial sensors (accelerometer and gyroscope), as well as a determined arrangement of magnetometers array. The key idea of the method is the use of deep neural networks to dynamically tune the measurement covariance matrix of an Extended Kal...
