NAVIGATION IN BUILDINGS WITH RECTANGULAR FLOOR PLAN

摘要

An apparatus and method for providing a direction based on an angle of a reference wall is provided. A mobile device uses an angle of a horizontal feature from an image to calibrate a sensor and future sensor measurements. The angle of the horizontal feature is determined by image processing and this angle is mapped to one of four assumed parallel or perpendicular angles of an interior of a building. A sensor correction value is determined from a difference between the sensor-determined angle and the image- processing determined angle. The image processing determined angle is assumed to be very accurate and without accumulated errors or offsets that the sensor measurements may contain.