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Paper w78-2011-Paper-62:
BIM-BASED HYBRID INERTIAL POSITIONING FOR FACILITY OPERATIONS SUPPORT

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S Taneja, B Akinci,J H Garrett, L Soibelman, B East

BIM-BASED HYBRID INERTIAL POSITIONING FOR FACILITY OPERATIONS SUPPORT

Abstract:Facility operations often require maintenance personnel to locate critical equipment or find the correct shut-off valve in a mechanical room. Mechanical rooms usually have little to no network coverage. Moreover, facilities usually experience a network outage during building emergencies, such as flooding or power outage. Lack of adequate network coverage limits the deployment of network-based positioning and localization solutions in such environments. Hence, there is a need for an infrastructure-free positioning solution that does not require WLAN network. This paper evaluates algorithms that utilize a navigation network created from BIM-based floor plans for correcting inertial positioning data, which is susceptible to drift errors (Gelb 1974). We have built on top of map-matching approaches that have been used for correcting positioning data from GPS by utilizing road network representations in GIS databases (Scott 1994; Spassov 2007). In particular, we have created a navigation network representation of the indoor environments based on the Medial Axis Transform (Taneja et al. 2011b) for implementing two different map-matching algorithms, namely, a weighted geometric matching algorithm and a topological matching algorithm. We have implemented a prototype that acquires data from a commercial Inertial Sensing Unit, performs map-matching calculations on a portable tablet computer and displays the position output on top of a floor plan on the tablet computer. This paper presents the evaluation of the performance of the two map-matching algorithms in field tests carried out in one of the heavily utilized academic facilities in Pittsburgh, PA. Performances of the algorithms have been characterized in terms of horizontal positioning accuracy of corrected position data (in meters).

Keywords:Facility operations, Inertial positioning, Map-matching, Navigation network

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