FIG Peer Review Journal


Pedestrian Trajectory Determination in Indoor Environments (7492)

Ľubica Ilkovičová, Pavol Kajánek and Alojz Kopáčik (Slovakia)
Dipl.-Ing. Ľubica Ilkovičová
PhD. student
Slovak University of Technology in Bratislava
Faculty of Civil Engineering
Department og Surveying
Radlinského 11
Corresponding author Dipl.-Ing. Ľubica Ilkovičová (email: lubica_ilkovicova[at], tel.: +421 2 592 74 396)

[ abstract ] [ paper ] [ handouts ]

Published on the web 2015-03-31
Received 2014-10-20 / Accepted 2015-02-07
This paper is one of selection of papers published for the FIG Working Week 2015 in Sofia, Bulgaria and has undergone the FIG Peer Review Process.

FIG Working Week 2015
ISBN 978-87-92853-35-6 ISSN 2307-4086


Nowadays, the topic of the navigation in indoor environment is becoming more and more current and several systems that can substitute GNSS technology are developed. In the presented paper is introduced the method of determining the trajectory of pedestrians in an indoor environment, what constitutes an undisputed the basis for navigation of persons in indoor environment of buildings. To determine the pedestrian trajectory were used data from inertial sensors (accelerometers and gyroscopes) and calculated the trajectory by “step detection” method. The paper describes the localization possibilities with usage of sensors available in smartphone. The developed method isn’t able to identify the absolute position in the building, but provide the information about the relative position, in regard to planned route. During the experiment the accuracy of the trajectory calculated from the smartphone Samsung Galaxy S4 data was tested. The trajectory was determined in the ground plan of an administrative building with known location of fixed points, which are included in the path of the pedestrians. The algorithm for data processing was created in Matlab software, parallel with the algorithm for calibration of smartphone sensors. Matlab function “findpeaks“ was used for step detection and determination changes in sensor orientation. The main algorithm produces dynamic plot of the actually position of pedestrian on the building floor plan.
Keywords: Positioning; Low cost technology; Young surveyor; Inertial Measurement System; Accelerometers; Gyroscopes; Step Detection Algorithm