Tightly Coupled UWB/IMU Pose Estimation

被引：106

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

页码：688 / +

页数：2