UWB and MEMS Based Indoor Navigation
- 26 June 2008
- journal article
- research article
- Published by Cambridge University Press (CUP) in Journal of Navigation
- Vol. 61 (3), 369-384
- https://doi.org/10.1017/s0373463308004797
Abstract
Thanks to its physical characteristics, Ultra-wideband (UWB) is one of the most promising technologies for indoor pedestrian navigation. UWB radio localisation systems however experience multipath phenomena that decrease the precision and the reliability of the user's location. To cope with complex indoor environments, UWB radio signals are coupled with inertial measurements from Micro Electro Mechanical Sensors (MEMS) in an extended Kalman filter. Improved performances of the filter are presented and compared with reference trajectories and with pure inertial solutions. Only specific selection methods enable this improvement by detecting and removing outliers in the raw localisation data.Keywords
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