Tightly Coupled UWB/IMU Pose Estimation
2009 (English)In: Proceedings of the IEEE International Conference on Ultra-Wideband (ICUWB), 2009, 688-692 p.Conference paper (Refereed)
In this paper we propose a 6DOF tracking system combining Ultra-Wideband measurements with low-cost MEMS inertial measurements. A tightly coupled system is developed which estimates position as well as orientation of the sensorunit while being reliable in case of multipath effects and NLOS conditions. The experimental results show robust and continuous tracking in a realistic indoor positioning scenario.
Place, publisher, year, edition, pages
2009. 688-692 p.
Indoor positioning, Kalman Filter, IMU, Ultra-Wideband
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-50628DOI: 10.1109/ICUWB.2009.5288724ISBN: 978-1-4244-2931-8ISBN: 978-1-4244-2930-1OAI: oai:DiVA.org:liu-50628DiVA: diva2:271826
IEEE International Conference on Ultra-Wideband (ICUWB), Vancouver, BC, Canada, September, 2009
Won best student paper award.2009-10-132009-10-132013-09-15