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VIGILANT: Smart Phone Navigation for Visually Impaired Pedestrians. Name: Affiliation: Anani Afanou ECE 4007 L02 Arpan Ghosh Daniel Newsome Date: Ken Orji April 15, 2009. Overview. WHAT? Pedestrian “turn-by-turn” navigation using a Google G1 mobile phone WHO/WHY?

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Vigilant smart phone navigation for visually impaired pedestrians

VIGILANT: Smart Phone Navigation for Visually Impaired Pedestrians

Name: Affiliation:

Anani Afanou ECE 4007 L02

Arpan Ghosh

Daniel Newsome Date:

Ken Orji April 15, 2009


Overview
Overview Pedestrians

WHAT?

Pedestrian “turn-by-turn” navigation using a Google G1 mobile phone

WHO/WHY?

Current navigation solutions for the visually impaired are cumbersome and expensive


Design Approach Pedestrians

  • DGPS Base Station

    • Accepts connections and transmits corrections values over LAWN

  • G1 Smart Phone

    • Connects to DGPS server and receives corrections (WLAN)

    • Send corrections to receiver and gets back corrected user position (Bluetooth)

  • GPS Receiver (with user)

    • Calculates user’s position from satellite(s)

    • Applies DGPS corrections to calculated position


Calculating Correction of Satellite Pedestrians

Calculating User Position from Satellite

DGPS Corrections

User Position with Noise Removed

<= DGPS Corr.

=> User Position

User Position from Receiver

Kalman Filter


Calculating Correction of Satellite Pedestrians

Calculating User Position from Satellite

DGPS Corrections

User Position with Noise Removed

<= DGPS Corr.

=> User Position

User Position from Receiver

Kalman Filter


Changes to approach
Changes to Approach Pedestrians

  • Laptop will be used as communication intermediary

    • Laptop gets corrections

    • Laptop sends them to GPS receiver

    • Laptop gets corrected lat, long values

    • Forwards these to G1 phone.

  • Android Bluetooth API not ready

  • Code needs to be open sourced


Goals
Goals Pedestrians

Supply user-friendly interface

Audio feedback

Receive differential GPS corrections

Remove noise using Kalman filtering

Provide dynamic turn by turn instructions

Achieve accuracy < 2 Meters


Additional features
Additional Features Pedestrians

Route recalculation in case of user error

Wrong turn, missed turn

Goes off path

User orientation at start

Which direction to turn

Wireless feedback (In progress)‏

Voice over hands-free Bluetooth headphones


Simple user interface
Simple User Interface Pedestrians

Voice feedback for each destination

Keyboard support for quicker access


Dynamic Turn by Turn Navigation Pedestrians

100 ft

0.1 mi

0.4 mi

0.3 mi


Kalman filtering
Kalman Filtering Pedestrians

Possible to achieve an accuracy of under 2 meters


Route correction
Route Correction Pedestrians

Wrong turn or

missed turn

Path deviation

Provide new set of directions to get back on original path.

Provide warnings to get back on track.


Directional orientation
Directional Orientation Pedestrians

?

  • Obtain user’s heading in degrees

  • Calculate difference between current heading and desired heading

  • Prompt user to turn right, left or around accordingly.


Problems and changes
Problems and Changes Pedestrians

Currently no API for Bluetooth on Android

- Laptop needed as a communication

intermediary in prototype.

- Send position updates to phone

over wireless instead

Running Kalman filter on laptop vs. G1

- C vs. Java

- Gain in speed


Revised budget cost analysis
Revised Budget / Cost Analysis Pedestrians

  • Android’s GPS API isn’t robust enough (yet) to apply corrections on its own GPS position estimates.

  • External GPS receiver required.

  • Marketing:

    • VIGILANT system will be sold, as software package, for a monthly fee of $49.99.

    • One time cost of receiver.

    • Remains a cheaper alternative to competitors like the Sendero GPS system (priced at $1,649).


Remaining tasks
Remaining Tasks Pedestrians

Integration of code running on laptop with our application on the G1.

SSH over wireless ad hoc network

Testing! Testing! Testing!


Possible future work
Possible Future Work Pedestrians

Add extra way points during runtime to visit on way to destination.

Add extra parameters to Kalman filter to make it more accurate (e.g. acceleration, velocity)


Questions ? Pedestrians


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