Indoor positioning through integration of optical angles of arrival with an inertial measurement unit

A novel indoor positioning solution (IPS) is proposed in this paper. An inertial navigation system (INS) is integrated with optical angles of arrival (OAOA) measurements to yield a smoother, more accurate, and robust positioning solution for indoor environments. An extended Kalman filter (EKF) is used to integrate the INS and OAOA measurement. In this paper, both loosely coupled and tightly coupled integration strategies are explored for INS and OAOA integration. The tightly coupled strategy results in an average error of 1.67 cm while the loosely coupled strategy has a larger average error of 2.34 cm for the same experimental environment. However, the performance improvement of the tightly coupled system comes with an increased computational cost.