Tightly Coupled UWB/IMU Pose Estimation

被引：98
|
作者：
Hol, Jeroen D. [1 ,2 ]
Dijkstra, Fred [1 ]
Luinge, Henk [1 ]
Schon, Thomas B. [2 ]
机构：
[1] Xsens Technol BV, Enschede, Netherlands
[2] Linkoping Univ, Div Automat Control, S-58183 Linkoping, Sweden
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON ULTRA-WIDEBAND (ICUWB 2009) | 2009年
关键词：
LOCATION;
D O I：
10.1109/ICUWB.2009.5288724
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 sensor-unit 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.
引用
收藏
页码：688 / +
页数：2
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