Fully-Coupled Hybrid IEEE 802.15.4a UWB/IMU Position Estimation in Indoor Environments

This paper presents a fully-coupled indoor positioning system combining IEEE 802.15.4a Ultra Wideband (UWB) with 6 degrees of freedom inertial sensing. Fully-coupled implies that the positioning system not only implements position estimation of the object by fusing the UWB and inertial measurements,...

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Bibliographic Details
Published in25th IET Irish Signals & Systems Conference 2014 and 2014 China-Ireland International Conference on Information and Communications Technologies (ISSC 2014/CIICT 2014) pp. 53 - 58
Main Authors Tingcong Ye, Tedesco, S, Walsh, M, O'Flynn, B
Format Conference Proceeding
LanguageEnglish
Published Stevenage, UK IET 2014
The Institution of Engineering & Technology
Subjects
Computer communications
Computer networks and techniques
Radio links and equipment
Radionavigation and direction finding
inertial navigation
IEEE 802.15.4a UWB
position-based messages
fully-coupled indoor positioning system
UWB correction approach
ultra wideband communication
Zigbee
IEEE 802.15.4a ultra wideband
inertial measurement units
INS
remote positioning
local positioning
degrees of freedom inertial sensing
IMU position estimation
wireless communication mechanism
indoor communication
indoor environments
inertial navigation system
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Summary:This paper presents a fully-coupled indoor positioning system combining IEEE 802.15.4a Ultra Wideband (UWB) with 6 degrees of freedom inertial sensing. Fully-coupled implies that the positioning system not only implements position estimation of the object by fusing the UWB and inertial measurements, but also employs the IEEE 802.15.4a UWB as a wireless communication mechanism for exchanging position-based messages between two independent nodes, and thus makes timely remote tracking possible. Two positioning approaches namely inertial navigation system (INS) and INS with UWB correction are investigated. The fully-coupled positioning system is implemented and tested in two practical cases related to indoor positioning. Experimental results show that the proposed system is capable of realizing both local and remote positioning, and the INS with UWB correction approach shows improved positioning performance when compared to the INS-only approach.
ISBN:9781849199247
1849199248
DOI:10.1049/cp.2014.0658