2. Project Objectives o Developing android application which turns standard cellular phone into a tracking device that is capable to estimate the current person’s indoor position accurately over time. o This includes: o Incorporating with inertial position algorithm o Developing elevation tracking algorithm o Developing indoor map matching algorithm

3. Demonstration A map data structure is created with the map creation tool QR codes are created with the QR creation tool Client scans QR Server displays map matched locations

4. System Communication Diagram Android Clients Map Matching and Presentation Server Map Servers HTTP FTP Map Synchronization Request Map Synchronization Status BuildingMesh Request BuildingMesh Step message Location Message

5. Indoor Map Matching Server A multi thread server which is responsible for clients location correction by map matching.

6. Map Matching Algorithm

7. match a sequence of measured points with given accumulative bounded error onto an indoor map. The Problem

8. match a sequence of measured points with given accumulative bounded error onto an indoor map. Step vector Angular error Length error

9. The Algorithm Main idea For each received point, maintain all the possible area in which the current point can be. The possible area is a function of the bounded error and the previous point possible area. Choose the most likely point from this area.

10. The Algorithm Main Idea cont’d. Move the previous possible area by the step vector, excluding all the area that cannot reach its’ destination due to surface restrictions (walls). Expand the possible area to express the union of the possible areas for each post-step-movement point inside previous possible area.

11. Area Moving and Expanding Red – source area, Yellow – destination area Wall area

12. Area Moving and Expanding Red – source area, Yellow – destination area

13. Area Moving and Expanding Final result – after intersecting with not possible area

14. Indoor Map Tracker Android Application The application is responsible producing the most accurate current relative locations, using only inertial sensors.

15. Summary o The purpose of this project was to improve the accuracy of indoor inertial position tracking by matching the path to the building map. o We didn’t find any previous global and efficient solution to that problem. o Our solution meets the requirements above expected. o Further more, we provided a full user experience: map creation tool, QR code creation tool, matched positions presentation ability and an easy and intuitive android application interface. o Further development option is to develop device relative to walk direction recognition algorithm, which will allow using the application while holding device in the hand. o This project exposed us to new fields of knowledge and experience, from learning to develop for android platform and understanding its API levels, algorithmic calculations and more. We are pleased and satisfied from the project and its results.