Title :
Study on UWB/INS integration techniques
Author :
Zwirello, Lukasz ; Ascher, Christian ; Trommer, Gert F. ; Zwick, Thomas
Author_Institution :
Inst. fur Hochfrequenztech. und Elektron., Karlsruher Inst. fur Technol. (KIT), Karlsruhe, Germany
Abstract :
In this paper a simulation-based feasibility study on tightly UWB and inertial data integration is presented. Inertial measurement data is generated using a new pedestrian walk generator based on real inertial sensor data. UWB range measurements are generated from ray-launching simulations for different environments and 3D-maps. The final data fusion is realized by a Kalman Filter: Loosely vs. Tightly Integration Techniques are compared and the expected accuracy is presented.
Keywords :
Kalman filters; inertial navigation; sensor fusion; 3D-maps; Kalman filter; UWB range measurements; UWB-INS integration techniques; data fusion; inertial data integration; inertial measurement data; inertial navigation system; inertial sensor data; pedestrian walk generator; ray-launching simulations; simulation-based feasibility study; Accuracy; Buildings; Navigation; Receivers; Stability analysis; Time measurement; Trajectory;
Conference_Titel :
Positioning Navigation and Communication (WPNC), 2011 8th Workshop on
Conference_Location :
Dresden
Print_ISBN :
978-1-4577-0449-9
DOI :
10.1109/WPNC.2011.5961007
