Abstract: | There is a great need to develop non-GPS based methods for positioning and navigation in situations where GPS is not available. We previously developed a set of navigation algorithms for a novel navigation sensor, a UWB-OFDM radar, and analyzed their performance in an airborne simulation study. This paper presents an experimental analysis and validation of the UWB-OFDM navigation algorithms in an indoor environment. A previously constructed UWB-OFDM system prototype is integrated with a HG1700 tactical grade INS on an indoor mobile platform. The platform moved through a hallway containing both corner reflectors and unknown scatterers embedded in the environment. The range to and Doppler measurements of each tracked reflector are used as updates to the navigation filter, implemented as a modified EKF. The EKF combines the radar measurements with INS measurements to compute an optimal estimate of the platform position error. The navigation solution is computed for two scenarios: INS-only position, and INS position corrected by the EKF error estimate. Comparison with the true trajectory shows that the solution with EKF correction improved the navigation solution by an order of magnitude. |
Published in: |
Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012) September 17 - 21, 2012 Nashville Convention Center, Nashville, Tennessee Nashville, TN |
Pages: | 3847 - 3852 |
Cite this article: | Kauffman, Kyle, Raquet, John, Morton, Yu, Garmatyuk, Dmitriy, "Experimental Study of UWB-OFDM SAR for Indoor Navigation with INS Integration," Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN, September 2012, pp. 3847-3852. |
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