A constraint approach for UWB and PDR fusion

• Pedestrian Dead-Reckoning (PDR) and Radio Frequency (RF) ranging/positioning are complementary techniques for position estimation but they usually locate different points in the body (RF in the head/hand and PDR in the foot). We propose to fuse the information from both navigation points using a constraint filter with an upper bound in the distance between the estimated positions of both sensors.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Nyckelord

nonlinear constraints

Pedestrian Dead-Reckoning

sensor fusion

Ultra Wide Band

zero-velocity detection

Publikations- och innehållstyp

ref (ämneskategori)

kon (ämneskategori)