Tightly Coupled UWB/IMU Pose Estimation

Abstract

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.

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@inproceedings{Hol2009TightlyCU, title={Tightly Coupled UWB/IMU Pose Estimation}, author={Jeroen D. Hol and Fred Dijkstra and Henk Luinge and Thomas B. Sch{\"{o}n}, year={2009} }