Tightly Coupled UWB/IMU Pose Estimation
2009 (English)Report (Other academic)
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.
LiTH-ISY-R, ISSN 1400-3902 ; 2913
Indoor positioning, Kalman Filter, IMU, Ultra-Wideband
IdentifiersURN: urn:nbn:se:liu:diva-55840ISRN: LiTH-ISY-R-2913OAI: oai:DiVA.org:liu-55840DiVA: diva2:316698