Study on UWB/INS integration techniques

Author

Zwirello, Lukasz ; Ascher, Christian ; Trommer, Gert F. ; Zwick, Thomas

Author_Institution

Inst. fur Hochfrequenztech. und Elektron., Karlsruher Inst. fur Technol. (KIT), Karlsruhe, Germany

fYear

2011

fDate

7-8 April 2011

Firstpage

13

Lastpage

17

Abstract

In this paper a simulation-based feasibility study on tightly UWB and inertial data integration is presented. Inertial measurement data is generated using a new pedestrian walk generator based on real inertial sensor data. UWB range measurements are generated from ray-launching simulations for different environments and 3D-maps. The final data fusion is realized by a Kalman Filter: Loosely vs. Tightly Integration Techniques are compared and the expected accuracy is presented.

Keywords

Kalman filters; inertial navigation; sensor fusion; 3D-maps; Kalman filter; UWB range measurements; UWB-INS integration techniques; data fusion; inertial data integration; inertial measurement data; inertial navigation system; inertial sensor data; pedestrian walk generator; ray-launching simulations; simulation-based feasibility study; Accuracy; Buildings; Navigation; Receivers; Stability analysis; Time measurement; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Positioning Navigation and Communication (WPNC), 2011 8th Workshop on

Conference_Location

Dresden

Print_ISBN

978-1-4577-0449-9

Type

conf

DOI

10.1109/WPNC.2011.5961007

Filename

5961007