Indoor positioning by ultra wide band radio aided inertial navigation
2010 (English)In: Metrology and Measurement Systems, ISSN 0860-8229, Vol. 17, no 3, 447-460 p.Article in journal (Refereed) Published
A research study aimed at developing a novel indoor positioning system is presented. The realized system prototype uses sensor fusion techniques to combine information from two sources: an in-house developed local Ultra-Wideband (UWB) radio-based ranging system and an inertial navigation system (INS). The UWB system measures the distance between two transceivers by recording the round-trip-time (RTT) of UWB radio pulses. Its principle of operation is briefly described, together with the main design features. Furthermore, the main characteristics of the INS and of the Extended Kalman Filter information fusion approach are presented. Finally, selected static and dynamic test scenario experimental results are provided. In particular, the advantages of the proposed information fusion approach are further investigated by means of a high dynamic test scenario.
Place, publisher, year, edition, pages
2010. Vol. 17, no 3, 447-460 p.
Ultra-Wideband, indoor positioning, inertial navigation
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-29361ISI: 000285569400012ScopusID: 2-s2.0-78149313153OAI: oai:DiVA.org:kth-29361DiVA: diva2:395147
QC 201102042011-02-042011-02-012011-11-15Bibliographically approved