Robust Height Tracking by Proper Accounting of Nonlinearities in an Integrated UWB/MEMS-based-IMU/Baro System

M. Zhang, A. Vydhyanathan, A. Young, and H. Luinge

Abstract:	This paper presents an integrated tracking system combining a MEMS-based-IMU, a UWB system and a barometer. The complementary features of the technologies make the integrated system provide a robust position and orientation estimate. The nonlinearity problem inherent in the strapdown integration solution is taken into account in the problem formulation and the methods. The use of the barometer and the incorporation of an EKF using a second order Taylor series approximation are shown to be effective in obtaining robust and reliable tracking estimates overall and in particular for the vertical channel.
Published in:	Proceedings of IEEE/ION PLANS 2012 April 24 - 26, 2012 Myrtle Beach Marriott Resort & Spa Myrtle Beach, South Carolina
Pages:	414 - 421
Cite this article:	Zhang, M., Vydhyanathan, A., Young, A., Luinge, H., "Robust Height Tracking by Proper Accounting of Nonlinearities in an Integrated UWB/MEMS-based-IMU/Baro System," Proceedings of IEEE/ION PLANS 2012, Myrtle Beach, South Carolina , April 2012, pp. 414-421. https://doi.org/10.1109/PLANS.2012.6236910
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In