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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)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2009. , 14 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2913
Keyword [en]
Indoor positioning, Kalman Filter, IMU, Ultra-Wideband
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55840ISRN: LiTH-ISY-R-2913OAI: oai:DiVA.org:liu-55840DiVA: diva2:316698
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-13Bibliographically approved

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Hol, Jeroen.DSchön, Thomas

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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