Foot-Mounted Inertial Navigation and Cooperative Sensor Fusion for Indoor Positioning
2010 (English)In: Proceedings of the 2010 International Technical Meeting of The Institute of Navigation, 2010, 89-98 p.Conference paper (Refereed)
In this paper we examine the effect of introducing an opportunistic cooperative navigation approach between soldiers, or first responders, equipped with foot-mounted IMUs and UWB-ranging equipment. The foot-mounted navigation system is based on a 15-state Extended Kalman filter, utilizing zero-velocity updates. The addition of range measurements between cooperative units displayed a significant improvement of the navigation accuracy in the studied scenarios. This approach has the potential to enable accurate positioning for several minutes in GPS-denied environments. Furthermore, the performance of the UWB-ranging sensor is examined and the resulting error statistics and typical ranging distances are characterized in indoor environments.
Place, publisher, year, edition, pages
2010. 89-98 p.
Cooperative unit, First responders, Indoor environment, Indoor positioning, Inertial navigations, Navigation accuracy, Range measurements, Ranging sensors, Sensor fusion
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-34884ISI: 000280139100010ScopusID: 2-s2.0-77954259613ISBN: 978-161738115-7OAI: oai:DiVA.org:kth-34884DiVA: diva2:427869
Institute of Navigation - International Technical Meeting 2010, ITM 2010; San Diego, CA; United States; 25 January 2010 through 27 January 2010
QC 201106292011-06-292011-06-172014-09-05Bibliographically approved