Rényi Divergence 기반 이상치 검출을 통한 적응형 센서/이종 인프라 통합 보행자 항법 기술
Adaptive Sensor/Heterogeneous Infrastructure Integrated Pedestrian Navigation Technology using Rényi Divergence-based Outlier Detection
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초록
In the Pedestrian Dead Reckoning (PDR)/Global Positioning System (GPS)/Wi-Fi-integrated navigation system for indoor/ outdoor continuous positioning of pedestrians, the process of detecting outliers in measurements is very important. When accurate location information from measurements is used, reliable correction data can be generated during the fusion filtering process. However, abnormal measurements may occur in certain situations, such as indoor/outdoor transitions, which can degrade filter performance and lead to significant errors in the estimated position. To address this issue, this paper proposes a method for detecting outliers in measurements based on Rényi Divergence (RD). When the deviation of the RD value is large, the measurements are considered outliers, and positioning is performed using only pure PDR. Based on experiments conducted with real data, it was confirmed that outliers were effectively detected for abnormal measurements, leading to an improvement in the performance of pedestrian navigation.
Abstract
In the Pedestrian Dead Reckoning (PDR)/Global Positioning System (GPS)/Wi-Fi-integrated navigation system for indoor/ outdoor continuous positioning of pedestrians, the process of detecting outliers in measurements is very important. When accurate location information from measurements is used, reliable correction data can be generated during the fusion filtering process. However, abnormal measurements may occur in certain situations, such as indoor/outdoor transitions, which can degrade filter performance and lead to significant errors in the estimated position. To address this issue, this paper proposes a method for detecting outliers in measurements based on Rényi Divergence (RD). When the deviation of the RD value is large, the measurements are considered outliers, and positioning is performed using only pure PDR. Based on experiments conducted with real data, it was confirmed that outliers were effectively detected for abnormal measurements, leading to an improvement in the performance of pedestrian navigation.
참고문헌 (15)
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