A constraint approach for UWB and PDR fusion

@article{Zampella2012ACA,
  title={A constraint approach for UWB and PDR fusion},
  author={Francisco Zampella and Alessio De Angelis and Isaac Skog and Dave Zachariah and Antonio Ram{\'o}n Jim{\'e}nez},
  journal={2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  year={2012},
  pages={1-9}
}
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. 

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