Foot-Mounted Inertial Navigation and Cooperative Sensor Fusion for Indoor Positioning

• 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

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