IPIN 2017 : Indoor Positioning and Indoor Navigation Conference


Tutorial1  Pedestrian Dead-Reckoning (PDR)


This tutorial presents the basics of pedestrian motion estimation using inertial measurements units. The concept of inertial navigation (INS) using accelerometers and gyroscopes is described and the main problems for a practical implementation with MEMS IMUs are highlighted. Two different practical approaches are presented for accurate pedestrian relative position estimation:

  1. PDR based on INS mechanization supported by zero velocity updates (ZUPT),
  2. PDR based on stride length and heading estimation.
In both cases the step event detection while a person is walking is needed and described.

The tutorial starts with a theoretical session and it is followed by an additional practical one that includes Matlab code execution and some parameter tuning in order to better understand the fundamental approaches and difficulties. Attendees will be requested to record their own walking experiments using their own mobile phone (Android App has to be installed for that purpose). A final evaluation using a gaming environment (Kahoot) will be done at the end of the tutorial in order to check the understanding of PDR concepts.


Any graduate or master student in ICT technologies (computer science, electronic, telecommunications or engineering degrees) wanting to learn the basic principles and algorithms behind PDR technology.

Participant's requirement

  1. Participants should carry with them a Laptop computer (any operating system is valid: Mac / Linux / Windows).
  2. Octave software should be installed in your computer for testing the Matlab code provided at the tutorial. Octave is freely available at: https://www.gnu.org/software/octave/download.html.
  3. A smartphone with Android operating system is needed for one of the practices. The "GetSensorData.apk" app should be installed for that purpose, which is available at: http://lopsi.weebly.com/downloads.html. Log_files in your phone created with this app must be transferable to your laptop computer via your own USB cable or other wireless connection of your wish (Bluetooth, e-mail).

Call for IPIN2017 Workshops/Tutorials

This is a call for proposals for workshops/tutorials which will be held in conjunction with IPIN 2017 conference. They will focus on the specific issues at the forefront of indoor positioning and indoor navigation; provide collaboration, exchanging space for researchers, industry practitioners to share their experience, vision and results.

The proposal should include the following information:

Proposals should be prepared as a single PDF file and sent via email to all workshops chairs. Enquiries can also be sent to any one of the workshops chairs.

Submission Deadline: April 30, 2017
Notification: ongoing as received

Workshop, Tutorial Chairs::

Katsuhiko Kaji,       Email: kaji@aitech.ac.jp
Madoka Nakajima,  Email: madoka.nakajima@sdm.keio.ac.jp