20 lines
2.0 KiB
TeX
20 lines
2.0 KiB
TeX
\section{Conclusion}
|
|
We presented a novel approach for integrating prior navigation knowledge by using realistic human walking paths.
|
|
Based on a weighted graph, two different models for walking in a more targeted and natural manner were introduced.
|
|
It could be shown that adding this additional knowledge causes an overall improvement of the localisation results, while maintaining flexible for uncertain behaviour.
|
|
Furthermore, our approach is able to provide accurate and robust position estimations, even when (normally) necessary calibration processes are ignored.
|
|
|
|
However, providing this calibration knowledge can further improve the results. In order to reduce the effort of locating the \docAP{}s and calibrating them, a numerical optimization based on predefined walks could be considered. Additionally, the graph allows for storing pre-computed signal strengths and thus enables more complex prediction models incorporating floor and wall information into the signal strength estimation.
|
|
|
|
As seen, multimodal distributions lead to faulty position estimations and therefore a rising error. One possible method to resolve this issue would be a more suiting location estimation method. Another promising way is smoothing. By deploying a fixed-lag smoother the system would still be perceived as real-time application, but is able to estimate the (delayed) estimation using future measurements up to the latest timestep.
|
|
|
|
|
|
|
|
%\commentByFrank{balance zwischen den einzelnen wahrscheinlichkeiten ist oft ein schmaler grad. wieviel turn erlauben, wieviel auf den pfad zwingen. das verbesern}
|
|
%\commentByFrank{position der APs wissen ist viel arbeit. vereinfachen durch test-walks auf vorgegebenen pfaden -> numerisch optimieren wo APs sind}
|
|
%\commentByToni{quadtress. stellen die groesse der zellen variable ein. je nach bedarf.}
|
|
%\commentByFrank{multimodalitaeten (z.B. treppenhaeuser). fixen durch andere estimations}
|
|
%\commentByToni{oder durch smoothing}
|
|
%\commentByToni{Aufzuege hinzufuegen. Vertical Acceleration benutzen.}
|
|
|