Navigation System for a Wide Range of Tasks Based on IMU Aided with Heterogeneous Additional Information

The constantly growing industry of indoor navigation employs a variety of approaches, including WiFi/Bluetooth received signal strength (RSS), smartphone internal sensors (accelerometer, gyroscope, magnetometer) and constructing digital building maps. However, none of these methods can avoid the time-consuming system implementation required for constructing the radio maps of received signals. In this paper we propose a new method designed to significantly reduce the deployment stage through combining the mapping (SLAM) technique with a foot-mounted IMU allowing for simultaneous mapping and localization. Additionally, this approach bypasses the requirements for the detailed building plan and its wireless networks. The primary target customer for this technology would be the first responders, firefighters and other emergency services that might require fast navigation in the unequipped spaces.