A Secure ZUPT-Aided Indoor Navigation System Using Blockchain in GNSS-Denied Environments.

Area of Science:

• Robotics and Autonomous Systems
• Cybersecurity
• Navigation and Positioning

Background:

• Global Navigation Satellite System (GNSS)-denied environments pose significant challenges for accurate and secure indoor navigation.
• Existing indoor navigation systems often rely on external infrastructure or are vulnerable to data manipulation.
• The integration of blockchain technology offers a promising solution for enhancing the security and trustworthiness of navigation data.

Purpose of the Study:

• To propose and evaluate a novel Blockchain-based indoor navigation system.
• To enhance the accuracy, security, and privacy of navigation data in GNSS-denied environments.
• To demonstrate the system's suitability for applications like autonomous vehicles, robots, and human tracking.

Main Methods:

• Utilizing a foot-mounted dual-inertial measurement unit (IMU) setup for motion sensing.
• Implementing an extended Kalman filter (EKF) for sensor data fusion and state estimation.
• Employing the zero-velocity update (ZUPT) algorithm to correct sensor drift and improve position accuracy.
• Leveraging a Low SWaP-C blockchain-based decentralized architecture (Hyperledger Fabric) for secure data management.

Main Results:

• The system demonstrated high transaction processing capability (over 680 transactions per second).
• Achieved exceptional accuracy and robustness, with a mean Root Mean Square Error (RMSE) of 1.2 m and a peak RMSE of 3.2 m over a 20-minute test.
• Provided clear evidence of enhanced data integrity, privacy, and security through blockchain utilization.

Conclusions:

• The proposed system offers a secure, accurate, and practical solution for indoor navigation in GNSS-unavailable environments.
• Blockchain technology effectively ensures the trustworthiness and immutability of navigation data.
• The system's independence from external signals makes it a versatile solution for various autonomous and tracking applications.