INDOOR POSITIONING BY ULTRA WIDE BAND RADIO AIDED INERTIAL NAVIGATION

Alessio De Angelis, John-Olof Nilsson, Isaac Skog, Peter Händel, Paolo Carbone

Abstract

In this paper, a research activity aimed at developing an indoor positioning system is presented. The realized system prototype uses sensor fusion techniques to combine information from two sources: a local Ultra-Wideband (UWB) radio based distance-measuring system infrastructure and an Inertial Navigation System (INS). The UWB system provides a measure of distance between two transceivers by measuring the time-of-flight of pulses. Its principle of operation is briefly described, together with the main features of its architecture. Furthermore, the main characteristics of the INS and of the Extended Kalman Filter information fusion approach are presented. Finally, some experimental results are provided, relative to static and dynamic position measurements.

Keywords

ultra wide band, indoor positioning, inertial navigation

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IMEKO-WC-2009-TC4-164.pdf

DOI

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IMEKO TC

TC4 - Measurement of Electrical Quantities

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