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.