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Indoor positioning using ultrawideband and inertial measurements
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Automatic control.
2015 (English)In: IEEE Transactions on Vehicular Technology, ISSN 0018-9545, E-ISSN 1939-9359, Vol. 64, no 4, 1293-1303 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, we present an approach to combine measurements from inertial sensors (accelerometers and gyroscopes) with time-of-arrival measurements from an ultrawideband (UWB) system for indoor positioning. Our algorithm uses a tightly coupled sensor fusion approach, where we formulate the problem as a maximum a posteriori (MAP) problem that is solved using an optimization approach. It is shown to lead to accurate 6-D position and orientation estimates when compared to reference data from an independent optical tracking system. To be able to obtain position information from the UWB measurements, it is imperative that accurate estimates of the UWB receivers' positions and their clock offsets are available. Hence, we also present an easy-to-use algorithm to calibrate the UWB system using a maximum-likelihood (ML) formulation. Throughout this work, the UWB measurements are modeled by a tailored heavy-tailed asymmetric distribution to account for measurement outliers. The heavy-tailed asymmetric distribution works well on experimental data, as shown by analyzing the position estimates obtained using the UWB measurements via a novel multilateration approach.

Place, publisher, year, edition, pages
2015. Vol. 64, no 4, 1293-1303 p.
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:uu:diva-253070DOI: 10.1109/TVT.2015.2396640ISI: 000353111900004OAI: oai:DiVA.org:uu-253070DiVA: diva2:820005
Available from: 2015-04-14 Created: 2015-05-20 Last updated: 2017-12-04Bibliographically approved

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Schön, Thomas B.

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