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Tightly Coupled UWB/IMU Pose Estimation
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Xsens Technologies B.V., Netherlands.
Xsens Technologies B.V., Netherlands.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2009 (English)In: Proceedings of the IEEE International Conference on Ultra-Wideband (ICUWB), 2009, 688-692 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
Indoor positioning, Kalman Filter, IMU, Ultra-Wideband
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-50628DOI: 10.1109/ICUWB.2009.5288724ISBN: 978-1-4244-2931-8 (print)ISBN: 978-1-4244-2930-1 (print)OAI: oai:DiVA.org:liu-50628DiVA: diva2:271826
Conference
IEEE International Conference on Ultra-Wideband (ICUWB), Vancouver, BC, Canada, September, 2009
Projects
CADICS
Note

Won best student paper award.

Available from: 2009-10-13 Created: 2009-10-13 Last updated: 2013-09-15

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Schön, Thomas

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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Language
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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  • asciidoc
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