Title :
A constraint approach for UWB and PDR fusion
Author :
Zampella, Francisco ; De Angelis, Alessio ; Skog, Isaac ; Zachariah, Dave ; Jimenez, Alvaro
Author_Institution :
Centre for Autom. & Robot. (CAR), UPM, Madrid, Spain
Abstract :
Pedestrian Dead-Reckoning (PDR) and Radio Frequency (RF) ranging/positioning are complementary techniques for position estimation but they usually locate different points in the body (RF in the head/hand and PDR in the foot). We propose to fuse the information from both navigation points using a constraint filter with an upper bound in the distance between the estimated positions of both sensors.
Keywords :
mobility management (mobile radio); navigation; pedestrians; sensors; ultra wideband communication; PDR fusion; UWB; constraint filter; navigation points; pedestrian dead-reckoning; position estimation; radio frequency positioning; radio frequency ranging; sensors; Xenon; Yttrium; Pedestrian Dead-Reckoning; Ultra Wide Band; nonlinear constraints; sensor fusion; zero-velocity detection;
Conference_Titel :
Indoor Positioning and Indoor Navigation (IPIN), 2012 International Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
978-1-4673-1955-3
DOI :
10.1109/IPIN.2012.6418929
