A fault detection and correction methodology for user positioning systems based on Kalman filtering is presented in this thesis. To develop this methodology, various aspects of the design of positioning systems are taken into account, such as the dynamic models of the systems, the definition of the estimation technique, the available technology and the environment (to identify disturbances that can affect the systems).In the first phase, the available technologies were identified, and the algorithms and the physical-mathematical models were defined for the positioning systems for both indoor and outdoor environments. The Dead Reckoning (DR) algorithm was included for this reason, because it can be applied in both environments. This algorithm allows the pedestrian's position to be obtained while s/he is walking. Given that one of the main parameters of DR is the pedestrian's step length, a careful analysis was carried out to determine it. Algorithms that allow, first, detection of a step and, second, calculation of its length are therefore presented here.An integrated system based on UWB and inertial technologies (IMU) is proposed for indoor environments. This system uses the information about the step length to improve the information provided by the UWB system. The system that was defined for outdoor environments is a GPS­IMU system based on the DR algorithm. Data fusion is carried out by means of Kalman filtering for both systems. In the GPS­IMU­DR system, the errors of the azimuth bias and the step length are obtained by means of Kalman filtering, which allows the DR parameters to be corrected and, consequently, the pedestrian's position can be obtained with greater accuracy.In the next phase, the fault detection and correction methodology is developed. This is based on the principles of causal diagnosis using the theory of possibility. This methodology is proposed in order to prevent the introduction of erroneous information into the Kalman filter. In order to carry this out, failure states of the sensor systems are defined and corrective measures are applied when one or more of those states are present. These states are defined taking into account the empirical knowledge of the behaviour of the system. The performance of the filters was also monitored. This consists in the continuous evaluation of their innovations and, in case of inconsistency, corrective measures are applied to the parameters of the filters.The experiments, for the proposed systems, presented results that improved their initial response to a considerable degree. For the UWB­IMU system, an analysis that involves the detection of inconsistencies of the filter is presented, while for the GPS­IMU­DR system the fault detection and correction methodology is applied. In the UWB­IMU system, the corrective measures introduced into to the Kalman filter allowed both consistent filtering and a soft signal to be obtained, i.e. most of the reflections of the signal provided by the UWB system were eliminated. The results of the GPS­IMU­DR system indicated that by implementing the methodology developed here, consistent filtering was obtained and the values of the azimuth and the step length were corrected properly. As a result more exact pedestrian trajectories were obtained.

El desarrollo económico y la estabilidad general del país en los últimos años, trajo consigo el auge de diversos sectores como el industrial, el minero, el agropecuario, etc. Esto, significó mayor cantidad de puestos de trabajo para la población y mejores ingresos para las familias. Bajo este contexto era natural que se incrementara la demanda de productos de diversa índole y de servicios, principalmente los de entretenimiento. Esta demanda fue atendida con la construcción de nuevos centros comerciales y la modernización de los pocos ya existentes. Las grandes superficies de consumo han pasado a formar parte del día a día de la sociedad, tanto es así que se puede decir que la gente va al centro comercial a pasear y no a comprar. Para los comerciantes esto es un problema que se resuelve incrementando el número de visitantes que realiza compras en el centro comercial. Dentro de las diversas tecnologías de posicionamiento y geolocalizaciones que en la actualidad se aplican en distintos ámbitos del quehacer diario como pedir comida a domicilio, pedir servicios de taxi, encontrar la mejor ruta para un destino sin toparse con el tráfico, etc., se encuentran aquellos que permiten navegar dentro de los lugares cerrados, las conocidas como Indoor Positioning Systems (IPS). / In the past few years the economic growth and overall stability of the country, brought with it an increase for many industrial sectors, like mining, agriculture and others. This also had an impact on the people in the form of more jobs and better incomes. Under this context it was only natural that the demand for any product or services increased, mainly the ones relative to the entertainment sector. The respond to this demand was the construction of new malls and the update of the ones already in place. Large spaces for retail purposes are now part of the everyday in a modern society, in such a way the people go to the mall just to spend the day and not for buying goods. For the retailers this is a problem to be solved by increasing the number of visitors to the mall. Among the many technologies in global positioning and geolocation that has a place in current applications for everyday tasks like food ordering, taxi services, or even finding the best route home avoiding rush hour, there are the ones that allows to navigate inside buildings, these are called Indoor Positioning Systems (IPS). / Trabajo de investigaciòn