Project Objectives

o Developing android application which turns standard cellular phone into a tracking device that is capable to estimate the current person’s indoor position accurately over time.

o This includes:o Incorporating with inertial position algorithmo Developing elevation tracking algorithmo Developing indoor map matching algorithm

Demonstration

A map data structure is created

with the map creation tool

QR codes are created with the QR creation tool

Client scans QRServer displays map matched

locations

System Communication Diagram

Android Clients

Map Matching and Presentation

Server

Map Servers

HTTP

FTP

Map Synchronization RequestMap Synchronization Status BuildingMesh Request

BuildingMeshStep message

Location Message

Indoor Map Matching ServerA multi thread server which is responsible for clients location correction by map matching.

Map Matching Algorithm

match a sequence of measured points with given accumulative bounded error onto an indoor map.

The Problem

The Problem

match a sequence of measured points with given accumulative bounded error onto an indoor map.

Step vector

Angular error

Length error

The Algorithm Main idea

• For each received point, maintain all the possible area in which the current point can be.

• The possible area is a function of the bounded error and the previous point possible area.

• Choose the most likely point from this area.

The Algorithm Main Idea cont’d.

• Move the previous possible area by the step vector, excluding all the area that cannot reach its’ destination due to surface restrictions (walls).

• Expand the possible area to express the union of the possible areas for each post-step-movement point inside previous possible area.

Area Moving and Expanding

Red – source area, Yellow – destination area

Wall area

Area Moving and Expanding

Red – source area, Yellow – destination area

Area Moving and Expanding

Final result – after intersecting with not possible area

Indoor Map Tracker Android Application

The application is responsible producing the most accurate current relative locations, using only inertial sensors.

Summary

o The purpose of this project was to improve the accuracy of indoor inertial position tracking by matching the path to the building map.

o We didn’t find any previous global and efficient solution to that problem. o Our solution meets the requirements above expected.o Further more, we provided a full user experience: map creation tool, QR

code creation tool, matched positions presentation ability and an easy and intuitive android application interface.

o Further development option is to develop device relative to walk direction recognition algorithm, which will allow using the application while holding device in the hand.

o This project exposed us to new fields of knowledge and experience, from learning to develop for android platform and understanding its API levels, algorithmic calculations and more. We are pleased and satisfied from the project and its results.