Indoor Navigation Guidance For Mobile Device
Indoor Navigation Guidance For Mobile Device
Final Project
To fulfill the requirments to obtain
Bachelor Degree of Informatics Engineering
School of Computing
Telkom University
1301140256
Jonathan Marihot Parulian
2018
Indoor Navigation Guidance for Mobile Device
Abstract
Navigation is capable of showing the position and direction at the specified location. In this paper, we pro-
posed an indoor navigation based on the user location to its desired destination. Indoors navigation first
needs to determine the route that can be accessed inside the building. This guidance is made by cultivating
the indoor trajectory route that utilizes the sensor technologies in mobile devices. The sensors to be used
are pedometer and magnetometer. The experiment shows that the guidance gave the instructions to navi-
gate from the start to the destination by following compass direction and footstep to take. The guidance
instruction affected by three factors, there is user height, step calculation, and sensor threshold value. The-
se three factors have different effects but interconnected with the application system and that which causes
differences in the accuracy values obtained in the experiment.
1. Introduction
Since a long ago, navigation is used to help determine position and direction. As technology develops, the
navigation technology continues to change and become more sophisticated. Many activities are also currently
utilizing the ability of navigation systems both on land, sea, and air. On land, people use the navigation to determine
the route from their location to the location they want to go. However, navigation on land can be divided into two
categories, outdoor navigation and indoor navigation. Outdoor navigation usually relied on one of the technology
devices that is Global Positioning System (GPS). Devices that have a GPS system will capture the data signal
transmitted from the satellite and be captured by the GPS signal receiver[14]. By using this GPS technology, we
can be directed to a predetermined location. The direction shown on the navigation system is formed into the
trajectory data that has been established as a usable path. One of the example of the GPS technology is Google
Map, as showed in Figure 1.
Most of people spend more times inside a building. Since people spend most of their time in indoor enviro-
nments, indoor navigation service is in great public demand[17]. Unfortunately, indoor navigation cannot use GPS
technology like outdoor navigation. It is because in indoor, GPS can’t work well. Based on previous research, it
was determined that the positional accuracy using GPS are approximately 5 m of true position in open sky settings,
7 m in young forest conditions, dan 10 m under closed canopies[16]. This happens due to several things. One of
them is because of the position of the human or object is under closed canopies or inside a building, the signal will
be blocked by the building or wall. This will affect the GPS signal because it cannot go through the building or
wall. So, it will use another path to reach the object (multipath). Because of this, it will be difficult to implement
a GPS system in an indoor area because of the size of the room to be used may be less than that.
An example of indoor navigation described in Figure 2 showing the route and the location. To develop an
indoor navigation, one that must be made is guidance. A guidance will require positioning and track down a device
with a certain positioning accuracy and reliability. This guidance will be made in the form of sequential instructions
based on the route formed. This guidance instruction will help people that will use the indoor navigation service
easier to get directions to the destination. Without this guidance instruction, a navigation system, especially indoor
navigation, will not provide its full benefits.
From the problem above, an indoor navigation would require a guidance and it will be made in the form of
sequential instructions. It aims to handle deficiency in GPS which are unreliable to be implemented in indoor. This
instruction will be made by reading the route trajectory pattern[2, 5, 10, 3, 4] obtained from previous research,
using the efficient route for indoor[1, 6] and converting it into a series of instructions for helping the indoor
navigation system.
Problem Statement and Scope
Based on the background, the Problems that occur in the indoor navigation is the need to build a guidance in
determining and indicating the exact position and direction that can not be identified by the GPS system by utilizing
the trajectory that will be constructed inside a building or room and with that trajectory, it can be used to construct
an instruction based on the route created by the trajectory data. The performance of the guidance instruction will
be perfect if the placement of the coordinate points to be read correctly and the path used in accordance with the
trajectory in the real world. This indoor navigation guidance will be useful for guiding inside a building and will
be implemented in inter-building environment of School of Computing, Telkom University’s building consisting
of D (Panambulai), E (Kultubai Utara), F (Kultubai Selatan), G (Pascasarjana) building and public engineering
prelection Telkom University’s building such as KU1 (Grha Wiyata Cacuk Sudarijanto-A) and KU2 (Grha Wiyata
Cacuk Sudarijanto-B). For this study only the first floor of each building that will be used as the location of the
indoor navigation guidance and without utilizing any GPS of the device.
Objective
This study is creating guidance that can be used to show position and direction of the indoor navigation system,
instruction that will help the navigation inside the building and discuss the analysis of direction indicators accuracy
as the status of navigation instruction. From these patterns are made instructions that will be used in indoor
navigation guidance as a result of this study.
Writing Organization
This paper is organized as follows on section II discusses about related work and previous study that used in
this case, and in third section will be explain the system adaption analysis. After that will discuss the evaluation of
this system such as testing, analysis in section IV and last of section in this paper is the conclusion of this study.
2. Related Work
Gambar 3. Inter-Building
The Figure 3 illustrating the inter-building condition. [10] propose the representation in indoor space identify
an object accurately by storing geographic data that are represented to undirected graph form which has three
dimensional attributes x, y, and z, where x and y are the coordinates of a point, and z represents the height level
of the points.There are various kinds of elements in indoor spaces such as rooms, doors, corridors, floors, stairs,
elevators and the road connection between buildings. Indoor spaces are represented by undirected graph with
nodes and edges. The various kinds of elements in indoor can be represented with modelling concept, such as :
A cell represent room, edge represent door and one or more cells with one or more edges represent corridor and
stair[4, 10].
gathering somewhere and these activities will create trajectory pattern. The difference lies in the formation of the
indoor environment, that is the indoor environment created or are in the buildings. Therefore, space in indoor is
limited.
2.4 Pedometer
Pedometer is one of the sensors found on a smartphone. The function of the pedometer is to help in calculating
the number of steps taken when holding the device[13]. Pedometers are now widely implemented, not only on
smartphones, but also in the form of a single device such as a watch. The pedometer starts to be used a lot because
the data provided can help determine the number of steps that are obtained and can also calculate the distance that
has been passed[12, 9]. The step meter on the smartphone can be combined with a gps system to monitor steps,
distance and with the path that has been passed. The use of a pedometer can be combined with other sensor devices
found in a smartphone.
The mathematical formula above is used to calculate the distance acquired from how many step has been
taken[7]. The formula contain the total of step has been taken and the average step length of the user. From that
calculation, the device can measure how long the distance of the user has been walking and the number of step has
been taken. The step length of the user is acquired from the average step length of the user, each user will always
have a different step length that caused by height that affect the user’s leg length.
Based on the previous work that has been done, in this study will proposed a indoor navigation guidance that
will utilize the indoor trajectory data, indoor routing system that will showing the route in indoor environment and
pedometer system for creating the guidance instruction in the application.
From the dataset, a point structure will be formed by implementing indoor representation. This implementation
will use the longitude and latitude data to be used in determining the point location of each existing room in every
building. After each point of the location of the room is implemented, the route between rooms is formed by
applying algorithms in the Android programming language.
(a) Indoor Building Floor Map (b) Indoor Object Representation in Nodes
3.4 Instruction
In this section will explain the construction of the instruction that will guide the user navigation through the
route that has been chosen. The instruction will be made automatically based on the route chosen, that’s because
the program will read the route data onto each segment that needs to be passed. The segment direction and length
is the main data that needed to create the instruction. The segment direction will determine which way the user
should move based on the compass and the segment length will determine how much step is required to pass the
segment.
From the mathematical formula in [7], it can also be used to acquire the number of step by using the segment
length value and the average step length in this application.
With this formula, the application will calculate the number of steps that required to pass each segment that
connecting the start point to the destination. The segment length will be obtained from the segment database. In
this formula, the user’s height that will be used is 170cm and the average step length is acquired by calculating
earlier the average of taking 10 steps and divide the distance by 10. The result of the calculation should be rounded
up to prevent confusion in the number of steps gained.
The instruction automatically will be displayed in the top box of the application as showed in Figure 9 and will
always change based on the action of the user holding the device. Each time the user passes through a segment,
the instruction will change be varied based on the route that will be passed next.
(a) Compass Direction Instruction (b) Guiding Instruction
4. Evaluation
In this section will explain about the testing analysis of this study. The result of this testing and analyzing
process will show how the performance of the application on indoor navigation guidance. The main aspect of the
testing is the accuracy of the outputs.
Based on the table concepts made, the number step required for one of the experiment for each different user’s
height and the step acquired for the system and the test concept should be like the table 1 described above. The
table1 above is made based on the use at height of 170cm which produce step required value is 54 steps. But based
on the experiments conducted, the results obtained show that the number of steps obtained from the application
used in real time test showing a different value than the concept created as described in the table 1.
Table 2. Real Time Test Result From One of The Experiment Route
Start - Finish Height Step Required Step Acquired (Real Time Test)
170cm 54 steps 54 steps
165cm 54 steps 55 steps
A102B - A107B
160cm 54 steps 56 steps
155cm 54 steps 58 steps
The experiment results as shown in the Table 2. show that there are factors that affect the result of the expe-
riment. There are three factors that affect the result of the experiment above are the difference in user height, the
step calculation in converting the segment length and the sensor threshold value. The different height of the user
has an affect the number of steps taken while following the guidance instruction displayed in the application. This
happens because of the influence of leg length and the value of the average step length. Differences in height indi-
cate the difference in foot distance taken, this is also influenced because the application is made based on 170cm
height user. Due to the use of a set height of 170 cm, it affects the calculations used in the system as table 3 below.
In Figure 10, the red colored line is one of the segment that must be passed through that has a length of 10.6
meter. As one of the factor that affecting the calculation in the application that this segment length can resulting
different number of step as the different of user’s heigth is used in the calculation formula.
The second factor that affects the result of the experiment is the step calculation. The calculation is based on
three main data, there is the segment length, the user’s height, and average steps length. Because of the difference
between the user that is used in the experiment, it affects the total number of step acquired are different from the
concept. In the table 3 above showing that the difference in user’s height showing that there is an influence between
the user height on the calculation formula. The difference between the results of the calculation in the formula
looks very little but it can have an impact when the calculation results are rounded up.
The calculation in the table 4 also showing that in each segment calculation resulting a different number of
step required for passing through and that makes the total step to finish on that route have different number on a
different user height.
Another causes that make the accuracy of the indoor navigation less accurate is the threshold value that is used
to set the sensitivity of the pedometer sensor to detect the step motion. In this experiment, the threshold values
that is used to detect the step motion in the application is 10. The change of threshold values will have a different
effect if added or subtracted if the threshold value is added then more motion is required for the sensor to detect
one movement step and if reduced then the required motion for the sensor to detect step will be less and the sensor
gets more sensitive.
5. Conclusion
In this paper, we proposed an indoor navigation based on the user location to its desired location by using
help in form of a guidance instruction. The guidance instruction must require a precision in determining the
calculations of steps to be performed in the application. From the experiment result, it shows that there are three
factors that can affect the accuracy performance of the indoor navigation guidance. The three-factor is the user
height, the calculation of step from converting the length of the segment and the threshold value that is used in
the application. These three factors have different effects but interconnected on the system, like the user height
will affect the calculation of the step where it is used to convert the segment length to how many steps required.
For future work, this indoor navigation guidance can be implemented into a multi-floor system, using more device
like beacon technology to help determine the user current location as when navigate following the instruction, and
converting the written instruction to oral instruction for disables people.
References
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Generation Computer Systems, 37:232–242, 2014.
[4] S. Alamri, D. Taniar, M. Safar, and H. Al-Khalidi. Spatiotemporal indexing for moving objects in an indoor
cellular space. Neurocomputing, 122:70–78, 2013.
[5] S. Alamri, D. Taniar, M. Safar, and H. Al-Khalidi. A connectivity index for moving objects in an indoor
cellular space. Personal and Ubiquitous Computing, 18(2):287–301, 2014.
[6] D. Andini, D. D. J. Suwawi, K. M. Adhinugraha, and S. Alamri. Adaptation of k-nearest neighbor queries
for inter-building environment. In International Conference on Computational Science and Its Applications,
pages 183–194. Springer, 2018.
[7] Y.-W. Bai, C.-H. Yu, and S.-C. Wu. Using a three-axis accelerometer and gps module in a smart phone to
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[8] M. Boysen, C. de Haas, H. Lu, and X. Xie. A journey from ifc files to indoor navigation. In International
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[12] H. M. Husted and T. L. Llewellyn. The accuracy of pedometers in measuring walking steps on a treadmill in
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[13] J. B. Martin, K. M. Krc, E. A. Mitchell, J. J. Eng, and J. W. Noble. Pedometer accuracy in slow-walking
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[14] S. Panzieri, F. Pascucci, and G. Ulivi. An outdoor navigation system using gps and inertial platform. IE-
EE/ASME transactions on Mechatronics, 7(2):134–142, 2002.
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[16] M. G. Wing, A. Eklund, and L. D. Kellogg. Consumer-grade global positioning system (gps) accuracy and
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Appendices
Table 5. Buildings
Supplementary Document
1301140256
Jonathan Marihot Parulian
Table of Contents
1. Chapter I - Introduction
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Indoor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.3 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6 Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of Figures
4 Inter-Building . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 Connected segments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 Guidance System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Introduction
Since a long ago, navigation is used to help determine position and direction. As technology develops, the
navigation technology continues to change and become more sophisticated. Many activities are also currently
utilizing the ability of navigation systems both on land, sea, and air. On land, people use the navigation to determine
the route from their location to the location they want to go. However, navigation on land can be divided into two
categories, outdoor navigation and indoor navigation. Outdoor navigation usually relied on one of the technology
devices that is Global Positioning System (GPS). Devices that have a GPS system will capture the data signal
transmitted from the satellite and be captured by the GPS signal receiver[26]. By using this GPS technology, we
can be directed to a predetermined location. The direction shown on the navigation system is formed into the
trajectory data that has been established as a usable path. One of the example of the GPS technology is Google
Most of people spend more times inside a building. Since people spend most of their time in indoor enviro-
nments, indoor navigation service is in great public demand[35]. Unfortunately, indoor navigation cannot use GPS
technology like outdoor navigation. It is because in indoor, GPS can’t work well. Based on previous research, it
was determined that the positional accuracy using GPS are approximately 5 m of true position in open sky settings,
7 m in young forest conditions, dan 10 m under closed canopies[33]. This happens due to several things. One of
them is because of the position of the human or object is under closed canopies or inside a building, the signal will
be blocked by the building or wall. This will affect the GPS signal because it cannot go through the building or
wall. So, it will use another path to reach the object (multipath). Because of this, it will be difficult to implement
a GPS system in an indoor area because of the size of the room to be used may be less than that.
An example of indoor navigation described in Figure 2 showing the route and the location. To develop an
indoor navigation, one that must be made is guidance. A guidance will require positioning and track down a device
with a certain positioning accuracy and reliability. This guidance will be made in the form of sequential instructions
based on the route formed. This guidance instruction will help people that will use the indoor navigation service
easier to get directions to the destination. Without this guidance instruction, a navigation system, especially indoor
From the problem above, an indoor navigation would require a guidance and it will be made in the form of
sequential instructions. It aims to handle deficiency in GPS which are unreliable to be implemented in indoor. This
instruction will be made by reading the route trajectory pattern[2, 5, 14, 3, 4] obtained from previous research,
using the efficient route for indoor[1, 6] and converting it into a series of instructions for helping the indoor
navigation system.
Based on the background, the Problems that occur in the indoor navigation is the need to build a guidance in
determining and indicating the exact position and direction that can not be identified by the GPS system by utilizing
the trajectory that will be constructed inside a building or room and with that trajectory, it can be used to construct
an instruction based on the route created by the trajectory data. The performance of the guidance instruction will
be perfect if the placement of the coordinate points to be read correctly and the path used in accordance with the
trajectory in the real world. This indoor navigation guidance will be useful for guiding inside a building and will
of D (Panambulai), E (Kultubai Utara), F (Kultubai Selatan), G (Pascasarjana) building and public engineering
prelection Telkom University’s building such as KU1 (Grha Wiyata Cacuk Sudarijanto-A) and KU2 (Grha Wiyata
Cacuk Sudarijanto-B). For this study only the first floor of each building that will be used as the location of the
indoor navigation guidance and without utilizing any GPS of the device.
1.3 Objective
This study is creating guidance that can be used to show position and direction of the indoor navigation system,
instruction that will help the navigation inside the building and discuss the analysis of direction indicators accuracy
as the status of navigation instruction. From these patterns are made instructions that will be used in indoor
This paper is organized as follows on section II discusses about related work and previous study that used in
this case, and in third section will be explain the system adaption analysis. After that will discuss the evaluation of
this system such as testing, analysis in section IV and last of section in this paper is the conclusion of this study.
Chapter II
Literature Review
This section will be present literature review about indoors navigation with three different points of view. They
2.1 Indoor
Today’s technology is always evolving to find new discoveries or to develop existing technologies into more
advanced ones. Likewise one of them is navigation technology that is currently being developed to be more
sophisticated. This navigation technology can be divided into two categories, outdoor navigation and indoor
navigation. One examples of outdoor navigation is Google Maps. Outdoor navigation takes advantages of Global
Positioning System (GPS), like illustrated in Figure 3a. While indoor navigation, GPS cannot be used as well as
in outdoor navigation. GPS based systems can achieve sufficient accuracy, but are unreliable indoors due to signal
interference caused by walls, floors, furniture, and other objects (See Figure 3b).
Due to these limitations, illustrated in Figure 3, navigation inside unfamiliar buildings is still accomplished by
studying large maps posted in building lobbies and common areas [22]. There have been several studies that have
identified a technology that can be used in indoor positioning systems, such as Receive Signal Strength (RSSI)
and compressive sensing [7], RSSI and MEMS sensor [16], and Android and WLAN, But none of them has been
developed and distributed to consumers. One possibility is to install a transmitters in the building to reproduce
GPS signals. Implementation of this approach, called Pseudolite GPS, can yield high accuracy.
2.2 Inter-Building Environment
Inter-building environment is considered one of important part when constructing an indoor navigation because
in inter-building environment there are some factors that need to be considered. Inter-building may have building
Figure 4. Inter-Building
Figure 4 illustrating the condition of inter-building environment. [14] propose the representation in indoor
space identify an object accurately by storing geographic data that are represented to undirected graph form which
has three dimensional attributes x, y, and z, where x and y are the coordinates of a point, and z represents the height
level of the points.There are various kinds of elements in indoor spaces such as rooms, doors, corridors, floors,
stairs, elevators and the road connection between buildings. Indoor spaces are represented by undirected graph
with nodes and edges. The various kinds of elements in indoor can be represented with modelling concept, such
as : A cell represent room, edge represent door and one or more cells with one or more edges represent corridor
Indoor routing system is a routing system implementation in the building[14]. By using spatial data, each space
can be accurately identified. There are various kinds of elements in indoor spaces such as rooms, doors, corridors,
doors, stairs, elevators, and the road connection between buildings. Indoor spaces are represented by undirected
Due to the growing popularity of indoor location-based services, indoor data management has received sig-
nificant research attention in the past few years[28]. With the indoor mapping system, someone will be facilita-
ted in finding the target space[17]. Many studies have proven that most individuals spend their lives in indoor
environments[5]. Indoor routing application is pretty important for unfamiliar indoor spaces such as malls, airpor-
ts, offices, etc[9]. However, the majority of users still use manual mapping system by displaying a room map plan
in the building.
Every room allows for a variety of door that connect the room with another spaces. And the buildings can be
a multi-level building that has stairs, lifts, or elevators to move from one level to another level. The entire space
The indoor routing, like the illustration Figure 5, allows the routing system in three dimensional spaces that
represent high rise building[14]. In the case of indoor routing, three dimensional spaces data structure will identify
an object accurately by storing spatial data using undirected graph where x and y are the coordinates of a point on
sphere, and z represents height level of the point. Shortest path algorithm can be implemented then after the three
dimensional spaces structure was built in order to provide output of the shortest route between two points
Trajectory is the path that is formed because of the moving object positioning history. Based on where it
happened, trajectory can be formed in indoor or outdoor environment. Outdoor trajectory can be constructed by
GPS technology, this technology is not sufficient to be used in indoor environment. There are some embedded
sensors in mobile devices that can be utilized to track and reconstruct trajectory in indoor environment without
Outdoor spaces has many differences from indoor spaces[5]. In indoor there are also many activities, like mo-
ving from one room to another, passing along the corridor or gathering somewhere and these activities will create
trajectory pattern. The difference lies in the formation of the indoor environment, that is the indoor environment
The research about GPS has been done about some decades ago. In 1986, the mariners [20] have been done
research about the accuracy of GPS. At the time, the accuracy of GPS is still 100 m from the real object. Times
are growing. Technologies and research are also evolved. The latest research [33] said that the accuracy of GPS is
divided into three categories. The categories are determined from the condition of the circumstances surrounding
humans. The conditions are open sky settings, young forest, and under closed canopies. Based on previous
research, it was determined that the positional accuracies using GPS are approximately 5 m of true position in
open sky settings, 7 m in young forest conditions, dan 10 m under closed canopies.
This Figure 7 shows the illustrations about how GPS works. User accuracy depends on a combination of
satellite geometry, URE, and local factors such as signal blockage, atmospheric conditions, and receiver design
features/quality.
• Radio Interference
Navigation applications that find optimal routes and corresponding turn-by-turn directions in road networks
are oneof the fundamental and most used applications in wide variety of domains [23]. Meanwhile, with the
ever-growing usage of navigation applications in mobile devices and car-navigation systems, a plethora of user
generated trajectory data became available. These data are particularly useful for producing more effective and
1(b) illustrate the route provided by a navigation system, i.e., the red line from point A to point B, and correspon-
ding turn-by-turn navigation directions. The turn-by-turn directions shown in Figure 1(b) are computed by taking
into account inherent cost measures (i.e., distance and/or travel time) and turn angles (e.g., left or right) between
From the example above, shows how navigation direction is used in outdoor navigation. However, when it
comes to indoor navigation, the example will be difficult to display. This is because indoor maps will be different
from outdoor maps and can not be directly shaped by different types of navigation services. The maps must be
made separately and the paths that can be used should be formed according to the paths on the indoor map. Speed
and travel time will not be too influential in the indoor map, because when we are in the room is not required to
2.4.3 Conclusion
From the explanation above, indoor navigation isn’t supported yet by GPS. The reason why GPS does not
support is because the small accuracy and some limitations that given when human is in indoor building. That
small accuracy is affected by many causes, the signal blockage due to the buildings walls, floors, furniture, and
any other objects. Due to the inadequate use of GPS in the room, an indoor map is needed to determine the path
that can be used as an indoor navigation path. This will help in making the right guidance when going to run
indoor navigation. So in this project, GPS will not be used as technology to make indoor navigation guidance and
Most Android based smartphones come equipped with a number of hardware and software sensors, including
sensors for motion measurement, orientation detection, as well as environmental monitoring [34]. These sensors
help the device to detect the specific events and converts it to signal according to the systematic rules, which are
usually the mathematic rules. In other words, sensor is a detective device which inspects the measured information
and converts it to available output that can be recognized by smartphones. Sensor availability varies from device to
device, it can also vary between Android versions. This is because the Android sensors have been introduced over
the course of several platform releases. In this subsection, the availability of sensors is compared on API level 14,
In general, the sensor framework uses a standard 3-axis coordinate system to express data values. For most
sensors, the coordinate system is defined relative to the device’s screen when the device is held in its default
When a device is held in its default orientation, the X axis is horizontal and points to the right, the Y axis is
vertical and points up, and the Z axis points toward the outside of the screen face . In this system, coordinates
behind the screen have negative Z values. This coordinate system is used by the following sensors:
1. Acceleration sensor
2. Gravity sensor
3. Gyroscope
5. Geomagnetic sensor
The most important point to understand about this coordinate system is that the axes are not swapped when the
device’s screen orientation changes—that is, the sensor’s coordinate system never changes as the device moves.
This behavior is the same as the behavior of the OpenGL coordinate system. Another point to understand is that
your application must not assume that a device’s natural (default) orientation is portrait. The natural orientation
for many tablet devices is landscape. And the sensor coordinate system is always based on the natural orientation
of a device.
2.5.2 Motion Sensor
This sensor let the device to monitor the motion of the device when being held or placed by the user. It can
measure the acceleration and rotation of a device by using the accelerometers and gyroscope [34]. Motion sensors
are useful for monitoring device movement, such as tilt, shake, rotation, or swing. The movement is usually a
reflection of direct user input (for example, a user steering a car in a game or a user controlling a ball in a game),
but it can also be a reflection of the physical environment in which the device is sitting (for example, moving with
you while you drive your car). All of the motion sensors will return a multi-dimensional arrays of sensor value for
each sensor event.This value can be aquired by using the parameters that are available on the Android platform.
Accelerometer
Accelerometer measures the acceleration force in m/s2 that is applied to a device on all three physical axes (x,
y, and z), including the force of gravity. The common uses of this sensor is on motion detection such as shake, tilt,
rotation or swing. Accelerometer is available on API level 14, level 9, level 8, and level 3.
Gravity Sensor
The gravity sensor provides a three dimensional vector indicating the direction and magnitude of gravity. It
measures the force of gravity in m/s2 that is applied to a device on all three physical axes (x, y, z). The common
uses of this sensor is on motion detection such as shake, tilt, rotation or swing. This sensor is only available on API
level 14 and level 9. Gravity sensor looks like accelerometer. There’s just one difference between those sensors.
Accelerometer is not only measuring the acceleration force, but also including force of gravity.
Gyroscope
Gyroscope measures a device’s rate of rotation in rad/s around each of the three physical axes (x, y, and z). The
common uses of this sensor is on rotation detection such as spin, turn, etc. Many games interaction use this sensor
to make the user feel the real sensation of the games. Gyroscope is only available on API level 14 and level 9.
The rotational vector sensor is particularly versatile and can be used for a wide range of motion-related tasks,
such as detecting gestures, monitoring angular change, and monitoring relative orientation changes. The gravity
sensor provides a three dimensional vector indicating the direction and magnitude of gravity. Typically, this sensor
is used to determine the device’s relative orientation in space. Type of this sensor is software or hardware. It is
The enviromental sensors can measure various environmental parameters, such as ambient air temperature and
pressure, illumination, and humidity. This category includes barometers, photometers, and thermometers.
Ambient Temperature
Ambient temperature measures the ambient room temperature in degrees Celsius (◦C). The type of this sensor
Light Sensor
Light sensor measures the ambient light level (illumination) in lx. The common uses of this sensor is to adjust
or controlling screen brightness. The type of this sensor is hardware. Light sensor is available on all API level.
Proximity
It measures the proximity of an object in cm relative to the view screen of a device. This sensor is typically
used to determine whether a handset is being held up to a person’s ear. Actually, proximity also implements light
sensor. While the handset is being held up to a person’s ear, there will be no light. It causes the mobile device
The Android platform provides two sensors that let you determine the position of a device: the geomagnetic
field sensor and the accelerometer. These sensors measure the physical position of a device. This category includes
orientation sensors and magnetometers. Position sensors are useful for determining a device’s physical position in
Orientation Sensor
Orientation sensor measures degrees of rotation that a device makes around all three physical axes (x, y, z). As
of API level 3 we can obtain the inclination matrix and rotation matrix for a device by using the gravity sensor and
the geomagnetic field sensor in conjunction with the getRotationMatrix() method. It common uses on determining
device position. Type of orientation sensor is software. Actually, this sensor is available on all API level. But now,
Magnetometers
Magnetometer measures the ambient geomagnetic field for all three physical axes (x, y, z) in µT . It common
uses on creating a compass. The type of this sensor is hardware. This sensor is available on all API level.
Pedometer Pedometer is one of the sensors found on a smartphone. The function of the pedometer is to help in
calculating the number of steps taken when holding the device[24]. Pedometers are now widely implemented, not
only on smartphones, but also in the form of a single device such as a watch. The pedometer starts to be used a
lot because the data provided can help determine the number of steps that are obtained and can also calculate the
distance that has been passed[18, 11]. The step meter on the smartphone can be combined with a gps system to
monitor steps, distance and with the path that has been passed. The use of a pedometer can be combined with other
The mathematical formula above is used to calculate the distance acquired from how many step has been
taken[8]. The formula contain the total of step has been taken and the average step length of the user. From that
calculation, the device can measure how long the distance of the user has been walking and the number of step has
been taken. The step length of the user is acquired from the average step length of the user, each user will always
have a different step length that caused by height that affect the user’s leg length.
2.5.5 Conclusion
Android platform supports three broad categories of sensors, they are motion sensors, environmental sensors,
and position sensors. Motion sensors and position sensors are the most important for this project. Both of them
can be used to create the trajectory pattern and from that we can build the guidance for this project objective. The
main sensors involved in the process of making the trajectory pattern are the accelerometer and magnetometer.
Accelerometer is used to detect the motion of people while they walk and the magnetometer is used to determine
the direction by creating a compass. With both sensors, the results of guidance based on the existing path will be
directly tested to measure the accuracy of the position and direction shown.
2.6 Device
Many people use mobile devices to navigate when they want to go to a location. Some researchers has explai-
ned the advantages of mobile device in the use for navigation device [21, 12, 13]. They are:
1. The build-in sensors. With the availability of built-in sensors in the device, the users are not required to use
external sensors in order to collect needed information. The flexibility and readiness of the smartphone as a
memory for data processing tasks. They also contain more than adequate storage space to store data and
computed information. The smartphones also provide communication possibilities that allow information
exchange between user and external services. The smartphone itself can be seen as a small computing device
3. A smartphone is likely to be with a user during his daily activities. It can be seen as a natural choice of
a non-obtrusive device. The chances of users feeling awkward or uncomfortable will be much lower as
4. Long operation duration. For an average user, under normal usage patterns (some daily phone conversations
and text messages), a smartphone should have at least a day’s operation time before a recharge is required.
With proper management for sensor data polling, a whole day sensor data collection is achievable.
The study of step detection algorithm based on accelerometers and gyroscopes in cooperation with Kalman
filter were presented in Garcia[15], Opiela [25], and Tran[31]. There is a study where it developed the indoor
navigation system based on PDR (Pedestrian Dead Reckoning) using various sensors in smart phone with help of
the Artificial Neuron Network to recognize the walking status such as stop, walking, and running and to estimate
In some previous works, there are an adaptive length estimation using optimal parameters where the movement
status awareness was used [30, 32]. There is also research that calculating the variable that amplitude the threshold
The movement of a person is a specific type of a periodic mechanical movement which can be divided into
individual steps. The step detection is most often realized by measuring of the acceleration . There are several
methods for the detection of steps : detection of the peaks, zero-crossings and flat zone detection. In the previous
research, the detection of the peaks method often to be used in measuring the acceleration. To eliminate false
detected step, it is necessary to define the threshold above which the searched maximum as well as the minimum
The flat zone detection is the less used method because this method identifies the beginning of the step as a flat
zone in the time series of measured acceleration. By this method the sensor has to be placed directly on the leg of
a pedestrian [10].
In the presented article there is used the step detection method based on the zero-crossing of the acceleration
standard. These zero-crossings are later used in the method of adaptive step length estimation. Acceleration norm
(1) represents the resultant vector of the sensor acceleration. By defining of thresholds for the acceleration norm
(2) there are identified areas of movement where the step detection can be used. The low-pass filter (moving
average) is applied on the acceleration norm to suppress the noise and reduce the probability of the detection of
false steps. Each step has three zero-crossings. This fact is taken into an account by estimating the adaptive step
length:
q
α= αx2 + αy2 + αz2 , (1)
α < th α,
where
α − acceleration norm
Step detection method based on a zero-crossing is resistant to changes in the speed of a pedestrian which
Source of data to be used in this research is coordinate data to be used as marking the point location of each
building, room, corridor and segment that obtained from previous research. In this study, guidance will be built to
help indoor navigation. This guidance will only be made based on route path from the connection of each segments
There are several ways or methods to make this guidance. They are by using ISS services and determining
indoor mapping with detailed Points-Of-Interest (POI). This study will use ISS service to help to create the indoor
representation and POI for indicating each point as room and corridor that can be accessed. The guidance will
showing the direction of each route from each segments that implemented from the data. The route will follow the
A part of design system is designing data structure. Data structure is needed in this experiment to store some
values. They are number of step, direction that obtained from compass value, date, and experiment identity. It can
be changed according to the result of collecting data, whether weight and height will affect the length of foot step
or not.
The indoor mapping will be implemented by using Android Studio as for help developing the application.
From the data that obtained, coordinate data like longitude and latitude data will be converted into a point that
illustrating the room and corridor that exist in each building that being used in this study. The coordinate data is
stored in the database along with the other type of data such like the data ID, name of every room, the segments of
The Points that represent each room and corridor that exist in the building in Telkom University that being used
for this study is implemented using Google Maps as the platform base, see Figure 10.
Figure 10. Indoor representation point
The connecting process of each point to be a segments will be done when the starting point and the destination
has been selected. This figure 11 below show the connected segments is added in the application.
The algorithm that used to put the point that represent indoor location of each room and corridor is using the
Latitude and Longitude data. The result by using this algorithm is the colored red dot represents room and the
black dot represents the corridor that can be accessed like the figure 11 above. This algorithm process by dividing
between room and corridor data and registered it into different array list, then this array list will be accessed to
draw the room and corridor point and described in different color to show which one is room or corridor.
Algorithm 1: Route point connections
Data: Starting Point and Destination Selected
Result: Route of each segment connected
1 initialization;
2 foreach Vertex do
3 if Vertex ID = subString ”C” then
4 add Corridor data to ArrayList
5 else
6 add Room data to ArrayList
7 end
8 end
9 foreach Route do
10 draw point based on Latitude Longitude room/corridor data
11 end
For connecting the starting point and the destination, First the starting point and destination must be selected,
then check every segment that can connect to the starting room and destination room, then check every segment
data where the connection between the corridors has been determined. The path arrangement will be determined
from the connections of each segment that can be accessed based on the existing segment data that can connect the
The next thing needed is the guidance instruction. This instruction created by processing the route direction,
converting the length of the segment into steps needed, and move the position marker as it passes after one segment
route. The instruction will be made automatically based on the route chosen, that’s because the program will read
the route data onto each segment that needs to be passed. The segment direction and length is the main data that
needed to create the instruction. The segment direction will determine which way the user should move based on
the compass and the segment length will determine how much step is required to pass the segment.
From the mathematical formula in [8], it can also be used to acquire the number of step by using the segment
With this formula, the application will calculate the number of steps that required to pass each segment that
connecting the start point to the destination. The segment length will be obtained from the segment database. In
this formula, the user’s height that will be used is 170cm and the average step length is acquired by calculating
earlier the average of taking 10 steps and divide the distance by 10. The result of the calculation should be rounded
The instruction automatically will be displayed in the top box of the application and will always change based
on the action of the user holding the device, like showed in Figure 12. Each time the user passes through a segment,
the instruction will change be varied based on the route that will be passed next.
In this algorithm, the segment length data need to be converted to how many number of step required to pass
the segment. This process takes place continuously as long as the program reads that there is still a segment that
needs to be accessed after passing one segment until the program reads that the next segment is the relationship
is still active when the application is run. This method utilizes both the two sensors that are implemented in
this application because in this algorithm takes the number of steps taken during the move following the guidance
instruction and also the direction directed by the device when the user is moving. If the command to start navigation
has not been executed, the sensor used will not actively read the user’s movement until the command to start
navigation is executed. That’s when the sensor processes and reads the movement of the device and will affect the
In the route selection page, each room will be displayed in each building based on different building options.
Data from each room is directly accessed from the database used. Selection of starting room and goal room are
made separately in order to facilitate the selection of routes and the execution process shows the route path of
the starting room and the selected destination. This figure 13 below show how the route selection page will be
designed.
In analyzing implementation result scenario, it will be analyzed about the performance of the application.
3.3.1 Application Perfomance
One of the ways to determine whether the application successful or not is by measure the right metrics. In this
experiment, performance metrics is used to measure the successful of the application. Performance metrics focus
on how the user is experiencing the application. Performance metrics include are:
1. Application Crashes. Everyone who uses mobile apps has experienced crashes at some point. Crash rate is
the average crashes per app loads (an app load is the launch of an app). The typical crash rate is 1-2%, but
this varies widely depending on the type of app, its usage, maturity, etc.
2. API Latency. Apps of today leverage several API’s or services. Latency refers to the round-trip time from a
request to a response. The general rule of thumb is to optimize to around 1 second response time.
3. End-to-end application latency. It’s not just enough to track API latencies; you also need end-to-end response
time to applications that are powering the API’s. Users may have some tolerance for slower response times,
but the data generally shows that anything over 3-4 seconds total response time and the majority of user
(60% or greater) will abandon the transaction and may even delete your app altogether.
4. Application load period. This metric is related to the number of transactions or calls over a certain period of
time. It is critical because you want to make sure that as the load increases, your application performance
doesn’t degrade.
Another thing to note in order to determine the accuracy level of the application in helping to provide indoor
navigation guidance instructions is the performance of the sensors used in this application. Sensors utilized in
this application are accelerometer and magnetometer sensors. Both sensors are assigned in two different ways but
The accelerometer sensor is used to detect movement of footsteps which will help calculate the number of steps
taken during movement following the guided navigation instructions shown. This sensor has a threshold value that
will determine the sensor threshold in detecting vibrations against the device as the user moves. This threshold
value must be adjusted based on the sensitivity required by the user as it will affect the process of navigating the
The magnetometer sensor is used to implement compass movement in this application. This sensor reads the
magnetic field to indicate the direction of the poles as a compass work. With this sensor, this application can take
advantage of these sensors to help indicate the direction that needs to be addressed when navigating indoors.
Chapter IV
Evaluation
In this section will explaining about testing analysis of this study. The result of this testing and analyzing
process will show how performance of the application on indoor navigation guidance. The main aspect of the
Based on the main aspect as the objective of testing process is the accuracy of the application outputs, the
accuracy testing is done by conducting several experiments with different route selection to achieve different
accuracy output result. The thing that will affect the accuracy of this application testing is the user’s height. The
As the test scenario, the test location used is the KU1 building (Grha Wiyata Cacuk Sudarijanto-A) and the
threshold value that being used in the accelerometer sensor to detect step motion is 10. The selected test targets are
some students with different height categories try to follow the guidance shown in the application. The aim of the
accuracy test is to see how precisely the guidance provided by the app from start location to destination by testing
Based on the table concepts made, the number step required for one of the experiment for each different user’s
height and the step acquired for the system and the test concept should be like the table 1 described above. The
table1 above is made based on the use at height of 170cm which produce step required value is 54 steps. But based
on the experiments conducted, the results obtained show that the number of steps obtained from the application
used in real time test showing a different value than the concept created as described in the table 1.
Table 2. Real Time Test Result From One of The Experiment Route
Start - Finish Height Step Required Step Acquired (Real Time Test)
170cm 54 steps 54 steps
165cm 54 steps 55 steps
A102B - A107B
160cm 54 steps 56 steps
155cm 54 steps 58 steps
The experiment results as shown in the Table 2. show that there are factors that affect the result of the expe-
riment. There are three factors that affect the result of the experiment above are the difference in user height, the
step calculation in converting the segment length and the sensor threshold value. The different height of the user
has an affect the number of steps taken while following the guidance instruction displayed in the application. This
happens because of the influence of leg length and the value of the average step length. Differences in height indi-
cate the difference in foot distance taken, this is also influenced because the application is made based on 170cm
height user. Due to the use of a set height of 170 cm, it affects the calculations used in the system as table 3 below.
In Figure 14, the red colored line is one of the segment that must be passed through that has a length of 10.6
meter. As one of the factor that affecting the calculation in the application that this segment length can resulting
different number of step as the different of user’s heigth is used in the calculation formula.
The second factor that affects the result of the experiment is the step calculation. The table 3 showing that the
result of the calculation formula by using one of the segment in experiment route (See Figure 14) has a different
Table 3. Step Calculation in One Example Segment
value. The calculation is based on three main data, there is the segment length, the user’s height, and average steps
length. Because of the difference between the user that being used in the experiment, like the 3 described, it affects
the total number of step acquired are different from the concept.
The calculation in the table 4 show that in each segment calculation resulting a different number of step required
for passing through and that makes the total step to finish on that route have different number on a different user
height.
Another causes that make the accuracy of the indoor navigation less accurate is the threshold value that is used
to set the sensitivity of the pedometer sensor to detect the step motion. In this experiment, the threshold values
that is used to detect the step motion in the application is 10. The change of threshold values will have a different
effect if added or subtracted if the threshold value is added then more motion is required for the sensor to detect
one movement step and if reduced then the required motion for the sensor to detect step will be less and the sensor
4.4 Analysis
From the experiment result, there are different results of the guidance testing of the application. This happens
because of influence of the calculation of steps made in the application when showing guidance to be followed.
The calculations in the application are made based on user height and the height are multiplied by 0.415 if male
and 0.413 if female. The result of the calculation will result in a step length value in centimeters.
The step length difference will affect the number of steps required to reach the destination location and that
will cause the calculation of the distance between segments and the number of steps required in each segment of
the existing route will be different. For example from the route A104B to A104A there is a segment with length
of 10.6m.
From Table 5. it shows that the height will affect the step calculation that required in each segment. The
difference in the value of the calculation will also affect the accuracy of the guidance given. The number of steps
required for each segment will vary based on the user’s height and will be more influential as the route of the
From the calculation of each segment in three different route, Table 6, 7 and 8, showing that the length of each
segment in the route that were chosen do have affecting the step required to pass the segment, it also affected by
the height of the users. The shorter the user height of the height values used in the application, the more likely it
will affect the difference in the number of steps required when going through the segment that is in the selected
route.
The threshold values set in this app are tailored to the user’s height of 170cm. Therefore, the effect of deter-
mining the threshold value that makes the sensitivity of the accelerometer sensor in reading footstep movements
makes it possible to have a difference if the user’s height does not match the threshold value.
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