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UWB and MEMS Based Indoor Navigation

Published online by Cambridge University Press:  26 June 2008

Sylvain Pittet ,
Valérie Renaudin ,
Bertrand Merminod  and
Michel Kasser
Sylvain Pittet
Affiliation:
(Ecole Polytechnique Fédérale de Lausanne)
Valérie Renaudin*
Affiliation:
(Ecole Polytechnique Fédérale de Lausanne)
Bertrand Merminod
Affiliation:
(Ecole Polytechnique Fédérale de Lausanne)
Michel Kasser
Affiliation:
(Ecole Nationale des Sciences Géographiques)
*
(Email: valerie.renaudin@epfl.ch)
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Abstract

Thanks to its physical characteristics, Ultra-wideband (UWB) is one of the most promising technologies for indoor pedestrian navigation. UWB radio localisation systems however experience multipath phenomena that decrease the precision and the reliability of the user's location. To cope with complex indoor environments, UWB radio signals are coupled with inertial measurements from Micro Electro Mechanical Sensors (MEMS) in an extended Kalman filter. Improved performances of the filter are presented and compared with reference trajectories and with pure inertial solutions. Only specific selection methods enable this improvement by detecting and removing outliers in the raw localisation data.

Keywords

UWBMEMSindoor positioningpedestrian navigation
Type
Research Article
Information
The Journal of Navigation , Volume 61 , Issue 3 , July 2008 , pp. 369 - 384
Copyright
Copyright © The Royal Institute of Navigation 2008

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