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Tightly Coupled UWB/IMU Pose Estimation
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- Hol, Jeroen.D (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Dijkstra, Fred (author)
- Xsens Technologies B.V., Netherlands
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- Luinge, Henk (author)
- Xsens Technologies B.V., Netherlands
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- (creator_code:org_t)
- Linköping : Linköping University Electronic Press, 2009
- 2009
- English.
- Series: LiTH-ISY-R, 1400-3902 ; 2913
- In: Proceedings of the IEEE International Conference on Ultra-Wideband (ICUWB). - Linköping : Linköping University Electronic Press. - 9781424429318 - 9781424429301 ; , s. 688-692
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- In this paper we propose a 6DOF tracking system combining Ultra-Wideband measurements with low-cost MEMS inertial measurements. A tightly coupled system is developed which estimates position as well as orientation of the sensorunit while being reliable in case of multipath effects and NLOS conditions. The experimental results show robust and continuous tracking in a realistic indoor positioning scenario.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Indoor positioning
- Kalman Filter
- IMU
- Ultra-Wideband
- Electrical engineering
- Elektroteknik
- TECHNOLOGY
Publication and Content Type
- ref (subject category)
- kon (subject category)
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