الفهرس 
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Abstract
The demand for navigation systems is rapidly increasing,
especially in GNSS-denied environments. The ubiquitous use of
smart mobile devices equipped with various sensors encouraged
many researchers to investigate their use in improving indoor
navigation, where GNSS is not available.
Dead reckoning (DR) application depends on measuring
the traveled distance and the orientation from the known position
to the unknown one. Inertia navigation sensors installed in mobile
devices are normally low-cost and drift significantly.
Consequently, there is a need for auxiliary systems to aid the
navigation process, which can be achieved using external sensors
or additional information extracted from, for example, base maps.
This thesis represents a new technique for distance
estimation during dead reckoning navigation depending on the
proximity sensor. The new technique is based on the proximity
sensor for step counting in case of pedestrian dead reckoning
(PDR) or cycle counting in cycle dead reckoning (CDR). The new
technique has accuracy in distance measurement equal to 1.34%
and 0.53% in PDR and CDR, respectively.
As for the orientation (heading), the common technique is
the sensor fusion concept through the use of gyroscope rate by
integration with accelerometer and magnetometer data through
Extended Kalman Filter (EKF). But this thesis is targeted towards
improving the accuracy of heading estimation for pedestrian navigation in GNSS-denied environments by innovatively using
the maps. The map directions were used in dead reckoning to
improve the low-accuracy directions derived from portable device
sensors. This method is significantly computationally efficient
compared to traditional geospatial map-matching algorithms. The
new approach replaces the conventional geospatial database with
a list of street directions and paths used as Map Heading
Constraints (MHC) when navigating in straight directions. The
applied algorithm improved the navigation solution with an
average positional error of 1.23%, where the drift had been
reduced with a percentage exceeding 80%.