An Indoor Self-Localization Approach of a Wheelchair based on Inertial Measurement UnitsBachelor Thesis

5 May 2022, by Leonard Caanitz

Abstract:
In recent decades, due to the global spread of satellite-based positioning, the focus has shifted from outdoor localization to indoor localization. As a result, many different approaches have been developed for accurate and reliable indoor positioning. The aim of this thesis is to determine the extent to which accurate self-localization of a wheelchair is possible using only inertial measurement units. To accomplish this goal, four different methods were developed, which are based on different placements of the sensors on the wheelchair. In order to enable a quantitative analysis and interpretation of the methods, different routes were driven multiple times. It turned out that due to the practical behavior of the sensor, only one of the four approaches tested has the potential to enable accurate and reliable self-localization. Nevertheless, it can be stated in principle that, depending on the sensor used, accurate self-localization is quite possible using sensors only.

Supervised by:
Prof. Dr. Janick Edinger, Philipp Kisters