Indoor localization with multi sensor data fusion in Ad Hoc mobile scenarios

Author

Minutolo, Riccardo ; Annoni, Luca Alfredo

Author_Institution

THALES ITALIA S.p.a., Chieti, Italy

fYear

2014

fDate

1-3 Sept. 2014

Firstpage

403

Lastpage

408

Abstract

In this paper, we describe an Indoor Positioning System based on a proper combination of data from Inertial, Magnetic, Pressure sensors and Ultra-Wideband (UWB) radio. The system is able to provide accurate and reliable localization of Mobile Agents in GPS denied environments and the architecture is based on a typical anchor free approach where UWB is used in order to provide ranging and communications. The new developed architecture combines the previously mentioned data and increases the performance in comparison with a system based on single sensor approach (i.e. dead reckoning Inertial Systems, UWB Systems).

Keywords

indoor radio; magnetic sensors; mobile ad hoc networks; pressure sensors; sensor fusion; ultra wideband communication; GPS; UWB systems; ad hoc mobile scenarios; dead reckoning inertial systems; indoor localization; indoor positioning system; inertial sensors; magnetic sensors; mobile agents; multi sensor data fusion; pressure sensors; ultra wideband radio; Accelerometers; Compass; Data integration; Distance measurement; Foot; Mobile communication; Noise; Inertial; Localization; MDS; Positioning; UWB; ZUPT; anchor free; sensor fusion;

fLanguage

English

Publisher

ieee

Conference_Titel

Ultra-WideBand (ICUWB), 2014 IEEE International Conference on

Conference_Location

Paris

Type

conf

DOI

10.1109/ICUWB.2014.6959016

Filename

6959016