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Foot-Mounted Inerti...
Foot-Mounted Inertial Navigation and Cooperative Sensor Fusion for Indoor Positioning
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Strömback, Peter (författare)
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Rantakokko, Jouni (författare)
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Wirkander, Sven-Lennart (författare)
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visa fler...
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Alexandersson, Mikael (författare)
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Fors, Karina (författare)
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- Skog, Isaac (författare)
- KTH,Signalbehandling
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- Händel, Peter, 1962- (författare)
- KTH,Signalbehandling,ACCESS Linnaeus Centre
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visa färre...
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(creator_code:org_t)
- 2010
- 2010
- Engelska.
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Ingår i: Proceedings of the 2010 International Technical Meeting of The Institute of Navigation. - 9781617381157 ; , s. 89-98
- Relaterad länk:
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https://urn.kb.se/re...
Abstract
Ämnesord
Stäng
- In this paper we examine the effect of introducing an opportunistic cooperative navigation approach between soldiers, or first responders, equipped with foot-mounted IMUs and UWB-ranging equipment. The foot-mounted navigation system is based on a 15-state Extended Kalman filter, utilizing zero-velocity updates. The addition of range measurements between cooperative units displayed a significant improvement of the navigation accuracy in the studied scenarios. This approach has the potential to enable accurate positioning for several minutes in GPS-denied environments. Furthermore, the performance of the UWB-ranging sensor is examined and the resulting error statistics and typical ranging distances are characterized in indoor environments.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Nyckelord
- Cooperative unit
- First responders
- Indoor environment
- Indoor positioning
- Inertial navigations
- Navigation accuracy
- Range measurements
- Ranging sensors
- Sensor fusion
- Automatic control
- Reglerteknik
- Signal processing
- Signalbehandling
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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