Robust height tracking by proper accounting of nonlinearities in an integrated UWB/MEMS-based-IMU/baro system

This paper presents an integrated tracking system combining a MEMS-based-IMU, a UWB system and a barometer. The complementary features of the technologies make the integrated system provide a robust position and orientation estimate. The nonlinearity problem inherent in the strapdown integration solution is taken into account in the problem formulation and the methods. The use of the barometer and the incorporation of an EKF using a second order Taylor series approximation are shown to be effective in obtaining robust and reliable tracking estimates overall and in particular for the vertical channel.