On-the-fly Indoor Positioning and Attitude Determination Using Terrestrial Ranging Signals

Wei Jiang, Yong Li, Chris Rizos

Abstract:	This paper presents the results of a new multipath mitigating antenna “V-Ray” to address the challenges of using terrestrial ranging signals in an indoor environment with severe multipath. The V-Ray antenna – as used in the Locata positioning system – forms tight beams that provide line-of-sight range measurements as well as azimuth measurements. To take advantage of these two types of measurements, a new navigation methodology – the position and attitude modelling system (PAMS) – is proposed for processing carrier phase and azimuth measurements via an Unscented Kalman Filter. The PAMS can output the complete navigation parameters of position, velocity, acceleration and attitude simultaneously via an on-the-fly initialisation. The indoor test was conducted in a metal warehouse and the results confirmed that the horizontal positioning solution had an accuracy of better than 5cm and an orientation accuracy of less than 0.7 degrees.
Published in:	Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014) September 8 - 12, 2014 Tampa Convention Center Tampa, Florida
Pages:	3222 - 3230
Cite this article:	Jiang, Wei, Li, Yong, Rizos, Chris, "On-the-fly Indoor Positioning and Attitude Determination Using Terrestrial Ranging Signals," Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 3222-3230.
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