A hybrid indoor positioning system based on UWB and inertial navigation

The paper illustrates to integrate UWB technology with inertial navigation, and introduces the design of the hybrid indoor positioning system including server, gateway and sensor nodes. A linear regression matrix model is proposed to modify inertial navigation path. Least squares method is used to determine equations relating UWB trajectories to inertial navigation trajectories. Experimental results are shown to compare error distributions of hybrid algorithm and pure UWB solution.