Indoor Positioning Through Integration of Optical Angles of Arrival with an Inertial Measurement Unit

S. Islam, and R. Klukas

Abstract:	A novel indoor positioning solution (IPS) is proposed in this paper. An inertial navigation system (INS) is integrated with optical angles of arrival (OAOA) measurements to yield a smoother, more accurate, and robust positioning solution for indoor environments. An extended Kalman filter (EKF) is used to integrate the INS and OAOA measurement. In this paper, both loosely coupled and tightly coupled integration strategies are explored for INS and OAOA integration. The tightly coupled strategy results in an average error of 1.67 cm while the loosely coupled strategy has a larger average error of 2.34 cm for the same experimental environment. However, the performance improvement of the tightly coupled system comes with an increased computational cost.
Published in:	Proceedings of IEEE/ION PLANS 2012 April 24 - 26, 2012 Myrtle Beach Marriott Resort & Spa Myrtle Beach, South Carolina
Pages:	408 - 413
Cite this article:	Islam, S., Klukas, R., "Indoor Positioning Through Integration of Optical Angles of Arrival with an Inertial Measurement Unit," Proceedings of IEEE/ION PLANS 2012, Myrtle Beach, South Carolina , April 2012, pp. 408-413. https://doi.org/10.1109/PLANS.2012.6236909
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