DocumentCode
1917772
Title
Tightly coupled UWB/IMU pose estimation
Author
Hol, Jeroen D. ; Dijkstra, Fred ; Luinge, Henk ; Schön, Thomas B.
Author_Institution
Xsens Technol. B.V., Enschede, Netherlands
fYear
2009
fDate
9-11 Sept. 2009
Firstpage
688
Lastpage
692
Abstract
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 sensor-unit 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.
Keywords
indoor radio; inertial navigation; micromechanical devices; microsensors; mobility management (mobile radio); radionavigation; ultra wideband communication; wireless sensor networks; MEMS inertial measurements; indoor positioning; multipath effect; nonline-of-sight condition; tightly coupled UWB-IMU pose estimation; tracking system; ultrawideband measurement; Accelerometers; Automatic control; Manufacturing; Micromechanical devices; Navigation; Robustness; Sensor fusion; Synchronization; Transmitters; Ultra wideband technology;
fLanguage
English
Publisher
ieee
Conference_Titel
Ultra-Wideband, 2009. ICUWB 2009. IEEE International Conference on
Conference_Location
Vancouver, BC
Print_ISBN
978-1-4244-2930-1
Electronic_ISBN
978-1-4244-2931-8
Type
conf
DOI
10.1109/ICUWB.2009.5288724
Filename
5288724
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