Person location estimation using an inertial sensor unit and wireless modules

This paper is a preliminary report of location estimation combining an inertial navigation algorithm and wireless modules. Using triangulation, location can be estimated using received signal strength of wireless packets from wireless modules whose position is known. This location estimation is rather sensitive to various factors. On the other hand, an inertial navigation algorithm can provide accurate relative position estimation for a short time. Combination of these two methods is formulated as a quadratically constrained quadratic problem. Through simulation and a simple experiment, the proposed method is verified.