Pedestrian navigation inside builded area

In this paper, we present the development and the implementation of algorithms to access map databases by a user equipped with a pedestrian navigation system. The first step consists in building a 3D topological model specifically designed for the localisation process. Rooms, corridors, stairs and halls must be assembled in order to provide a model for route guidance. The link/node view of a network has a significant advantage in supporting navigation, since a path through a network is readily expressed as a series of decisions at nodes. The second step consists in the development of map matching routines. The pedestrian navigation system provides the user's position, which is combined with the link/node model. A dedicated map-matching algorithm processes the combination of the position data with the map database. The present development of an indoor navigation system allows the evaluation of navigation algorithms in a post-processing mode. Several indoor trajectories were performed to analyse the system.