Indoor positioning using ultrawideband and inertial measurements
2015 (English)In: IEEE Transactions on Vehicular Technology, ISSN 0018-9545, E-ISSN 1939-9359, Vol. 64, no 4, 1293-1303 p.Article in journal (Refereed) Published
In this work we present an approach to combine measurements from accelerometers and gyroscopes (inertial sensors) with time of arrival measurements from an ultra-wideband system for indoor positioning. Our algorithm uses a tightly-coupled sensor fusion approach and is shown to lead to accurate 6D pose (position and orientation) estimates as compared to data from an optical reference system. To be able to obtain position information from the ultra-wideband measurements, it is imperative that accurate estimates of the receivers’ positions and clock offsets are known. Hence, we also present an easy-to-use algorithm to calibrate the ultra-wideband system. It is based on a maximum likelihood formulation and represents the ultra-wideband measurements assuming a heavy-tailed asymmetric noise distribution to account for measurement outliers. Using the heavy-tailed asymmetric noise distribution and the calibration results, it is shown that accurate position estimates can be obtained from the ultra-wideband measurements using a novel multilateration approach.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2015. Vol. 64, no 4, 1293-1303 p.
Calibration, heavy-tailed noise distribution, inertial sensors, sensor fusion, ultrawideband (UWB)
IdentifiersURN: urn:nbn:se:liu:diva-106880DOI: 10.1109/TVT.2015.2396640ISI: 000353111900004OAI: oai:DiVA.org:liu-106880DiVA: diva2:719172
FunderLinnaeus research environment CADICSSwedish Research CouncilEU, FP7, Seventh Framework Programme
At the time for thesis presentation publication was in status: Manuscript2014-05-232014-05-232016-08-29Bibliographically approved