Terrain navigation in the magnetic landscape: Particle filtering for indoor positioning

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

18 Citations (Scopus)


Variations in the ambient magnetic field can be used as features in indoor positioning and navigation. We describe a technique for map matching where the pedestrian movement is matched to a map of the magnetic landscape. The map matching algorithm is based on a particle filter, a recursive Monte Carlo method, and follows the classical terrain matching framework used in aircraft positioning and navigation. A recent probabilistic Gaussian process regression based method for modeling the ambient magnetic field is employed in the framework. The feasibility of this terrain matching approach is demonstrated in a simple real-life indoor positioning example, where both the mapping and positioning is done using a smartphone device.

Original languageEnglish
Title of host publication2016 European Navigation Conference, ENC 2016
Number of pages9
ISBN (Electronic)9781479989157
Publication statusPublished - 2 Aug 2016
MoE publication typeA4 Article in a conference publication
EventEuropean Navigation Conference - Helsinki, Finland
Duration: 30 May 20162 Jun 2016
Conference number: 24


ConferenceEuropean Navigation Conference
Abbreviated titleENC

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