KAPALI ALAN YAYA KONUMLANDIRMA SİSTEMİ

Dış ortamlarda, kişinin konum bilgisi GPS teknolojisi kullanılarak elde edilmektedir. Kapalı ortamlarda GPS teknolojisi, uydularla yeterli seviyede bağlantı sağlayamadığından dolayı verimli olarak kullanılamamaktadır. İç ortamlarda yayaların konum bilgisi elde etmek için; kameralar, infrared, radyo frekansları (Bluetooth, UWB), ultrasonik sensör, hücresel haberleşme metotları, hareket sensörleri(ivmeölçer, jiroskop) kullanılmaktadır. Bu çalışmada, kapalı ortamda hareket sensör kartı (ROZAR IMU M0) kullanılarak jiroskop ve ivme sensörlerinden elde edilen veriler SD kart’a kaydedilmiştir. Ayrıca kapalı ortamlarda konum belirlemede sensörlerden kaynaklı hataları azaltmak için hız sıfırlama algoritması (ZUPT) kullanılmıştır. Doğru eşik değeri seçilerek, yaya konumunu görselleştirmeye yönelik GUI tasarlanmıştır.

Anahtar Kelimeler:

ZUPT algoritması, Konumlandırma sistemi, İvme ölçer, Jiroskop

INDOOR PEDESTRIAN POSITIONING SYSTEM

In an outdoor environment, the person's location information is obtained using GPS technology. In an indoor environment, GPS technology can not be used efficiently because it can not provide sufficient connectivity to satellites. In order to obtain Indoor localization information of pedestrians; cameras, infrared, radio frequencies (Bluetooth, UWB), ultrasonic sensor, cellular communication methods, motion sensors (accelerometer, gyroscope, magnetometer and compass sensors) are used. In this study, in an indoor environment, the data obtained from the gyroscope and acceleration sensor using the motion sensor card (ROZAR IMU M0) were recorded on the SD card. Furthermore, in indoor environments, the Zero Velocity Update algorithm (ZUPT) is used to reduce errors originating from sensors in position determination. A GUI was designed to visualize the pedestrian position by selecting the correct threshold value.

Keywords:

Accelerometer, Gyroscope, ZUPT algortihm, Localization system,

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