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G. Retscher, A. Kealy, J. Gabela, Y. Li, S. Goel, C. Toth, A. Masiero, W. Błaszczak-Bąk, V. Gikas, H. Perakis, Z. Koppanyi, D. Grejner-Brzezinska:
"A Benchmarking Measurement Campaign in GNSS-denied/challenged Indoor/Outdoor and Transitional Environments";
Journal of Applied Geodesy (invited), 14 (2020), 2; 215 - 229.

Localization in GNSS-denied/challenged indoor/
outdoor and transitional environments represents a
challenging research problem. This paper reports about
a sequence of extensive experiments, conducted at The
Ohio State University (OSU) as part of the joint effort of
the FIG/IAG WG on Multi-sensor Systems. Their overall
aim is to assess the feasibility of achieving GNSS-like
performance for ubiquitous positioning in terms of autonomous,
global, preferably infrastructure-free positioning
of portable platforms at affordable cost efficiency. In
the data acquisition campaign, multiple sensor platforms,
including vehicles, bicyclists and pedestrians were used
whereby cooperative positioning (CP) is the major focus
to achieve a joint navigation solution. The GPSVan of The
Ohio State University was used as the main reference vehicle
and for pedestrians, a specially designed helmet was
developed. The employed/tested positioning techniques
are based on using sensor data from GNSS, Ultra-wide Band (UWB), Wireless Fidelity (Wi-Fi), vison-based positioning
with cameras and Light Detection and Ranging (Li-
DAR) as well as inertial sensors. The experimental and
initial results include the preliminary data processing,
UWB sensor calibration and Wi-Fi indoor positioning with
room-level granularity and platform trajectory determination.
The results demonstrate that CP techniques are extremely
useful for positioning of platforms navigating in
swarms or networks. A significant performance improvement
in terms of positioning accuracy and reliability is
achieved. Using UWB, decimeter-level positioning accuracy
is achievable under typical conditions, such as normal
walls, average complexity buildings, etc. Using Wi-Fi
fingerprinting, success rates of approximately 97 % were
obtained for correctly detecting the room-level location of
the user.

Cooperative positioning, indoor positioning, indoor-outdoor smooth transitioning, sensor integration, vehicle and pedestrian navigation

http://dx.doi.org/10.1515/jag-2019-0031