empirical evaluation of mapping functions for navigation in ... - Ijicic

3 downloads 10303 Views 935KB Size Report
(a) Heading or Azimuth represents the orientation around the Z-Axis. It represents the angle .... The mobile phone runs the Android operating system [7]. The.
              

 

      

   

ÔÔº  

       

             

           

               ½   

! "

# $  %&$'  ('  





) '  *'  * ) + ,$-  ./ 0  1 ('   0" ,2  $2 ) ) 311 

¾   * *   #  " 

(    $

%&$" *   $        $  .

 $   1 "3$1 1

         

                

                                

!    

     "        # "  $                     

                     #         %      &   %    &         %'(&     "  % & #      '(         )               *                      #    "    +            $, -     . "    /  0 '(  *                     ,  *        "     '(    1         / '(   "           2. 3     4                      2.

                               !  "          # $    "  %       # $           #                &        

$     &      # #                        '    ()*        $            +  #  ,            # #    -   # $         +           #         .     (/* +              01     !      +     



            

 

                      #               #   #               +     -             #        #  #      +         #         

                     #  "          !  ..  .        2                        +         #        #     01

   -                   #  #     #  #    "   01 3  $45         #      6      #          # ( * 7   Æ     8 $45 (9* :  

                   #       ; < #                !     8 $45 5   # #          =  ( *           +           #   # #       #              +# #    # 2"   (*     .   >   # #? #          #      .           " ( * + .     "                  # $45          5     = #      #             #    #   5             "     %                 #     ! $45                ( * +      #       #        

 "      + =                 #     " 3  "                       #        #@ $45    #   +          5  #                  $       01  A  

#            $45     #  #        $    #    "  01     +          ! 

# ! $45             01 + -    =    "       +  #         $45     #      3  #      #  #    

    +             #            

 5           #  "     2   .               #       #  #   "  +  

      .      #      B             .       (/*

    



 !"#$!  %& && '! 2"   ( *     !    #          .         #    +                  -       #.                                     .  #       "                   +        #    #          

               .      

 3   "  2"   (*      #           +       

 $            #" #    # .                        $    ()*        #  #  .    #    +  

       # .   #  .$   = .     C+ B +       -        ,   #       #      +        #       #     1

 (/*          .   

#   " @ .  "                  #         + #   .

 #   #                 +       #                #                          # , .    "  "  4  -  !        

   

             #     "    (88* : (;*    +&       "

      '          .  + #    +&           # - .     +                     +&      +               #  +&      6 #        #  

         ! #      #    !"#$! '  !" && '! %& ( !# ! :         -   ,        #    8$45  #  "             .   # #       #  2 '           #          :                   # #  (9* 2       

  "   #                

               :B "   "            "           #   # D   (E*       !     # .    #                @      +      "                        #   01                +        



            

     #     " #      ! #       +       ( *          # ,           .          +       @   6   ".,    ".    D' ( *               +    F                                  

 #        #   ,     0    G"   (*    .    # $     ./. - + '  =     "     =     #           

   $45   .      +  8 $45 #    "                  2"   (*           "    #  $45 #      "          #        $45     & )!   %     .     01 %                01     #                $         #  -   #        #                              

      # +    

   " # H '   (*           1    .       #    " +    

  "  #       A     #     "        "         6  =       %             8 $45              #      $45        -  #    " +   #  01          %      #           #                     #     5                ' 5        #           #      01 =           3           "          

      !           01     # +                         =               01 D#                                #      

   '! *  !+!,! +       # .      =         #      01 >?  !+!, * & ,$ -& & !. +            +   #         #  #   + I.- -  '         J.-

-             :.- -     # #   >  5  >?  5  >??

    

45 6   $"$$



45 7 $ 8   $"$ 4 5 9    $"$ 

    H    > ?  !+!, * & ,$ -& /!!!0. &    . # #   #     #    #  .         .-          =   .      #      :.-  +    = #          #            =      4         #      

                 #   +           #  .-

                 -  +            #                @ >? 

              :.-  3   

               J.-  +    

#  )E      E   ;    9   

   5  >? >?           I.-  +     # ;  ;         :.-    J.-    5  >?

45 #    

45 # 8   

4 5 # 

 

    4     



            

>?   =        #       J.-  +     # E  E        I.-    :.-

   5  >? >?  !+!, * & ' ',. +     #  01      5  >? + I.- -        J.-  

    :.- -     #    #      A      #      01       #                               5         -              ' ! * ' , +                              01                                                           #    5              #    +#         #    >    ?       

    #        #     +              @       #                   "             =           %      

               #              01  & $! !               #  =      .       +                   + =                      +    

          =            .    #      =   #    "     7   #          "       "     01           

                 +              01         #      01    + 01   

             #             #         /  $!   +             +        #       %    !          >   

  

?            +      #                 01 +      = K= K      01                  #      01     >     ?              #         

    



+                   #    #    .-          =

  +      #            !  #   # #  !   #    #   

   #                 -  # $45   >?  $+ " &1@ +       "    3       #           #  01    +        '   01  '  +              :.- >  ? A                5                   "  !     #     5  >? > ?  $+  &1@ +                +                  01 +              01  "   

45 !  "  

4 5 !  " 

: ;? >?  $+  %& ( 2 &1@ +        =- '              !    '    '  2           #  01             #      01 +         5  >? >/? "  &1@ +        #  .    2          D        #            01 +        #          +   #          01    6 !  +        - >     ?      01    #    >     ?  5  >? ) '   ' ', %           

         01 # +         #       #   #         -   %                # ! $45 #   -     "    !   B          01    >? & !   $+ " &1@ 3   # $45     >    >I J?     >   ??     # $45  01 >    >I L:?     >   ??  5  />?

45

45

4 5

4 5

    >?       >?      >?        =- ' >?     

    



> ? & !   $+  &1@ 3   # $45     >    >I J?     >  ??     = $45  01 >    >I L:?     >    ??  5  />? >? & !   $+  %& ( 2 &1@ 3   # $45     >    >I J?     >  ??     # $45  01 >    >I L:?     >   ??  5  />? >/? & !  "  &1@ 3   = $45     >    >I J?     > M   ??     = $45  01 >    >I L:?     >    ??

 5  />? / ,' &-" * ' ! * 1     #    #         5 (;*       

     ,       

"    # #  

  + #              

#      #       #    " / , ,-,         #              =  #  =  "   >5%3F? (E* #      +     " K N            3          #   

             KN                 >I J?  > $45?      #    1    #         ,         +    # -     #.      -          "      , " &   K   N                                #  

   +  #               =      #                      7                =       K   N      

6            %   =                 

   "    +#  =               K, "N        A   +

=                     

6       #  #   %                -   A          #     ) ! +  " -&! 3      #  .         # #  !   >.            =- '            ?    ! $45    #    #  1  +  A  O  +      #  -         

        "     

  $45       

   %         '      #.    6   # +     >; ?    

            

!

#  8  >& P 9 A$ P ;?    #      #      #         ) (-, ', +     #      2+H $   +      .     .-         

 +           (9* + "     $   '   ()* %    $ +0 >) N?               

 #  $ !  .     01 +      #               -   +            !           !   -    01       5  ) 2  #         # E;" +   #     " #   6   +       " #         #       01 3    #     #

#  1 #       #      #

   )  

 

45  8$  $ 

:  45 (

    8   $   :  $    8  8

    F   -  @ >?     >?      >?  -  

)  (-, !  F      # #  $ +0     #        +           =-    -   2          #   -   +       #                       >  ? >  5 

   ! 1  

    



8?    

    %          #   +                    #    "  

 F      "          F         

     -    #  -   $    #              #            #   ) $! +  #    =      - .   +   -      / >  ?   >   ?   >  ?  >    ?  ) >     ? P 8     )       " &1               =- '     2  &        F   A          #      #  #

      -   1  #    #  -    "     

 & ,-(+  A  &  H -

   

 -  A & 5 

   

 -    

   

%      !       -   A  &   H - +    =    #            #         #       %  #        =               #         ,-. 3    #     #           -     >   ?        ,                    A 5  )>? . &      -  #              %              #  A    A 5  )>? ,-(. +   #        #       A 5  )>? 3       #    01 %      "      !  #    %    .    @ A > "M ? & >)"M ?  5 >) "M ? %  

   F   A                        #    

 #         #               #    !             #  F      "  "    

      " #      

)  !            1 +  A  O 



            

+. %     #          1  >? +  

<  P + >?  2   # 

<  #  . +  #         B          1 ,. 3         #       A  +                =  #   " 3+. %             "   

#           " # 3       # 1  > ? A  O  P 1  +   $  > ?  $             2                )/ +-&!! 3       '  #  456 4 #         # $45    

      6-      " 2 &           #    476 +          -          #    "   )) !! + '  ! # #       

    # - #  40   #  #       

   "  AFAA 4     =  !    40    +"B 2A$  .   '  . , ! >+ ?  .        D# ,  #  . , ! >F  A      ? +. +        =  ! # + > 8? P  9  P ;E  P 89 >  5  9>?? 2   #          =- '    >& P ; // A$ P 98?      2    >& P 9  ; A$ P  ? . +    =  ! # +  1 > 8? P )  P  /  P E9 >A 5  9>?? 3             5- 2' >& P /9 A$ P E?   =  > P  ?        2 >& P 89E A$ P /99? 1-      ! # A  >  

?  A    =       &  2 

  %  #   ! # F   1 >   )? 3    &    >& P / A$ P /?   =  > P  ?   #    A  >& P 99 A$ P /E8?  H - >& P )99 A$ P / /?    A     A        ,. A      =  !      > 8? P ) //  P    P /E8 >A 5  9>??        5- 2' >& P /)/; A$ P 8E ?   =  > P 

;? #       2 >& P 9)) A$ P ;) ? " 3+. +         =- '       #    40       ! #  

    > P ? 1-   F     =  !  A  O  >/  9/? P E  P 

  P 8 >Q .Q

 ,  ?    A  >   ? P EE8  P 

  P 9 %  &    

    

45   "



45 6 

4 5 #

   "        =- '       .     #   -     #  >? 1 >?  + >? &      =  

1 +" "          "    E)< =  

 =            >  5  ;>?? 2   

 =        #      >  5  ;>?? )8 !!! %    #  #   > +  1?          Æ        "               #     #                     2    "      -         #              "     +#           #       5



            

45

45

4 5

   #        =- '      .     #     + " "          "    E)< =                  #   @ +

   #    $%        #    

        +     #   # # 

                         !          =                #       &        =- '        !      -   3        #                  =- '    $45   !   #           =- '                01    #      3           01 

    



       6          +     #             =- '   =- # >  '?     "      #                =- # 2  "                          #  " # ''

   #        01           #    #    #  

>     ?                 

#             3         =                  2      Æ              #                   #     #                   !

   %    #    #  #        )             # #       +  -             # #

 -         4   ,       #  1    -      #       #      01              #           #        2          %                   :.-         #   % "          #          ,         4    

                     -                     + 

                 >     

  #   ? 4                   #        J.-               "     #     3                  "  #            #       01              #      %            #              '     #                       %                         01 %                 #    B     8 !     3      #.     #     "  01      " 1      

   #    #     $45 +         #     K   N  # $45   .  #        #  .   %        #    #       .     .   # 01        +  -    #.#   #   # $45             #   #      # !     #  

    #    + #   @             =- '             1  

            



  )  / $45  !   #       01      % #              # $45   

     01     

     !  

   +   #               =- '    / $45   #       #              #              01               5  =   -        01    "   = !   # #      01  3      -                    #     #     # 3  #                   

 -     " , "  1   , " =   #                    

 # -         -      0                  A   

     #    #"             = 5     # #  ,          #   #    %",    "  "     #              +       "       7G.

   G  7   # A  +  >G7A+?   ?@ 1 A ) +1     

!1 +   #: $< B   

&  *  8$ $

 

 ...    2  1 

C1 ? @ 1 +, (1 #' $ 01 A )  $ * * 

(1 $" 9 $

     !D  "$$ *

  3    ., 3  5  (   

6 881..  1 ?@ 01 $, 1    91 E  8 $  

1 

 !6 D

  :  $ *  )

!     " 

   78 3  3 6   9

  6   #  881 

/1 ?@ 1 1 + : 61 AFG H1 H1 7  H1 

 

1 9 8"&  9

 + # 

$ I$ "

1

?.@ 1  ) H1    

!1 I$ 6Æ   " 8$$  *  09%$

 

        : (  & 1   1 88C/

1 ?C@ +1 71 =$   $ * $

A1 1 $) >,  

   J  $ 88 

  9 6# 881  

C1

?@ H11 A 1 0  A1 () &   $& & & $

1 E) 8 K8

   $ 8

& $ *  & 

  ... 2  1  881 C C 

1

? @ A1 = ) "   #   #" 

1 ?@ A1 = ) " H1 9  (1   

61 = &, $  >$ *       



  ; 3  3 6   9   6   #  881



1 ? @ A1 = ) " H1 9  61 = &,  $$  

  

(1     



 ) 

   :

& $ 3 #   5   & 1  881

. 

.1 ?@ A1 = ) " !1 9$  H1 1 0   

1 1 A$$

  $&" *

  

Suggest Documents