In this project, a real-time navigation system was developed for pedestrian/soldier, based on the mobile phone camera and the inertial sensors found in the device. The system does not use GPS signals. The advantages of navigation without GPS are that the system is resistant to attempts to disrupt these signals and enables effective navigation even in places where there is no GPS reception such as buildings and tunnels.
The chosen solution uses the accelerometer sensor and algorithm motion for step detection, the gyroscope sensor for turning detection and right/left classification. The classification of the step as forward/backward is carried out using template matching technique that does cross-correlation between two consecutive pictures from the camera. The calculation of the walking route and its presentation in real time are carried out on a computer when the data is streamed from the mobile phone to the computer over the HTTP protocol.
The results obtained have a mean relative error of about 4% for straight-line routes forward and backward, and 7% for square routes.
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