We propose an algorithm for map-aided inertial dead reckoning (DR) for indoor navigation.The technique is based on a concept of collision avoidance velocity.New positions estimated by DR are checked for collision detection with walls and if such a situation is detected, the collision avoidance velocity is calculated to avert the obstacles.The differences hana longboard between an individual’s indicated velocity and collision avoidance velocity are then used to correct errors for further path development.
The best performance of the proposed technique is achieved when the individual moves 2007 toyota sienna manual along building obstacles.This type of movement is typical for firefighters, during search and rescue operations in thick smoke.Such conditions provided the environment for testing our algorithm.