Integrity monitoring for UWB/INS tightly coupled pedestrian indoor scenarios

  title={Integrity monitoring for UWB/INS tightly coupled pedestrian indoor scenarios},
  author={Christian Ascher and Lukasz Zwirello and Thomas Zwick and Gert F. Trommer},
  journal={2011 International Conference on Indoor Positioning and Indoor Navigation},
In this paper a tightly coupled UWB/INS system for pedestrian indoor applications is presented. In indoor environments wireless signal outage and severe multipath propagation very often lead to ranging errors and make pure UWB-based localization barely possible. On the other hand inertial sensor based systems (INS) are known for their drift with time. The integration of those two systems will allow to profit from their advantages. For the sensor data fusion the tightly coupled approach and… CONTINUE READING


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Trommer: "Real-time implementation of a Laser-based Graphical OrthoSLAM method coupled with a Dual IMU System

  • C. Ascher, C. Kessler, G.F.P. Crocoll
  • Proceedings of the 2011 International Technical…
  • 2011
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