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
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;
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
DOI :
10.1109/ICUWB.2009.5288724
