January 2019

What's Navindoor?

This framework aims to be a container of localization algorithms.

Only that?

Not at all, Navindoor is also capable of being a modular framework for

signal simulation algorithms,
indoor/outdoor trajectories simulation,
benchmark performing,
Localization metrics assessment ...

Let's make a demo of the

Let's start

Open your MATLAB

later than MATLAB R2017b

Install Navindoor

>> unzip('https://github.com/DeustoTech/navindoor-code/archive/master.zip')
>> movefile('navindoor-code-master', 'navindoor')
>> addpath(genpath(fullfile(cd,'navindoor')))
>> cd navindoor

Open the graphical interface

>> navindoor

Planimetry

MATLAB Objects

You can create your building with these elements

MATLAB Objects

You can create your building with these elements

You have these options to insert, select and navigate

Let's go to MATLAB

Open the building already done

Open building already done

Search the file:

data/buildings/EI_UD.mat

Faculty of Engineering of Deusto

Let's go to MATLAB

again ...

Trajectories

Points

Segments

GroundTruth of

Foot

Points

Segments

from Points to Foot Function

Trajectory Constructor

GroundTruth of

Foot

GroundTruth of

Reference

Points

Segments

from Points to Foot Function

from Foot to Reference Function

Trajectory Constructor

GroundTruth of

Foot

GroundTruth of

Reference

Points

Segments

from Points to Foot Function

from Foot to Reference Function

Trajectory Constructor

Walking Model

Stairs Model

Elevator Model

You can create several trajectories

You can navigate through the building by using these buttons

You can create several trajectories

You can navigate through the building by using these buttons

To create the trajectories you need a model of human motion

Let's go to MATLAB

again ...

Signals Simulation

Mesurements

Trajectory

Signal Model

Signal Constructor

Inertial

Magnetometer

Barometer

Beacon Free Signals

Mesurements

Trajectory

Signal Model

Signal Constructor

RSS

ToF

AoA

Beacons

Beacon Based Signals

positions

You can characterize each trajectory with several signals

Choose the type of signal

You can characterize each trajectory with several signals

Choose the type of signal

Choose models

You can characterize each trajectory with several signals

Choose the type of signal

Choose models

Generate your signal

Let's go to MATLAB

again ...

Signal Processing

Prior Knowledge

Building

Signals

Prior Knowledge

Building

Signals

Our Algorithms

Prior Knowledge

Building

Signals

Our Algorithms

Estimation Format

\begin{bmatrix} x(t_1)& y(t_1) & z(t_1)& t_1\\ x(t_2)& y(t_2) & z(t_2)& t_2\\ x(t_3)& y(t_3) & z(t_3)& t_3\\ x(t_4)& y(t_4) & z(t_4)& t_4\\ ...& ... & ...& ...\\ \end{bmatrix}

Select the estimation to be compare to the GroundTruth

Select the available signals to each algorithm

Select the estimation to be compare to the GroundTruth

Select the available signals to each algorithm

Choose the Algorithm

Select the estimation to be compare to the GroundTruth

Select the available signals to each algorithm

Choose the Algorithm

Compute!

Let's go to MATLAB

again ...

Method Comparison

Select the trajectory to see what estimates you have.

Select the estimates

Select the trajectory to see what estimates you have.

Select the estimates

compare

Let's go to MATLAB

again ...