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Nav Comeback (NavCB) v6

Android application for Pedestrian Dead Reckoning (PDR) data collection and indoor navigation research.

Features

  • PDR Tracking: Real-time trajectory estimation using IMU sensors.
  • Algorithm V2:
    • PdrEngine: Standalone processing core for sensor fusion.
    • Coordinate Alignment: Quaternions used to rotate acceleration to Global (Earth) Frame.
    • Gravity Removal: Linear vertical acceleration extraction.
    • Step Detection: Peak detection on Low-Pass Filtered vertical acceleration.
    • Step Length: Weinberg Model (K * (amax - amin)^1/4) for dynamic estimation.
  • Data Recording: Logs Accel, Gyro, Mag, Pressure, Quaternions, and WiFi/BLE scans to CSV/ZIP.
  • Event Tagging: Mark turns, stairs, and elevators during data collection.
  • Visualization: Real-time path drawing and signal strength graphs.

Requirements

  • Android Device with Accelerometer, Gyroscope, Magnetometer.
  • Android 10+ recommended.

Usage

  1. Start: Begins PDR tracking and recording.
  2. Stop: Saves data to /storage/emulated/0/Nav_CB/.
  3. Use Mag: Toggles Magnetometer fusion for heading.
  4. Events: Use buttons to mark ground truth events.