A single-anchor calibration indoor positioning system using heterogeneous sensors

This paper introduces an indoor positioning system which is built with heterogeneous sensors, i.e., inertial sensors and ultra wide band (UWB) ranging modules. It takes a hybrid approach with Inertial Navigation and UWB ranging method to explore their cooperative efforts. Besides, a novel hybrid algorithm for single-anchor positioning and calibration is proposed, which combines real-time inertial sensing data and UWB ranging measurements from single anchor. Additionally, the proposed hybrid algorithm is based on MMSE of user displacement, providing a significant deviation reducing for tracking. Finally, one experimentation is conducted to show that the hybrid algorithm can improve the accuracy of positioning by 47.2% compared to pure inertial solution, meanwhile its mean of the location errors is less than 1m. With the popularity of wearable devices with inertial sensors and wireless communication chips, such hybrid approach could be very promising for indoor positioning system.