Seamless Navigation Using UWB-based Multisensor System

Vincenzo Di Pietra, Paolo Dabove, Marco Piras

Peer Reviewed

Abstract:	This work presents an Ultra-wideband-based (UWB) approach to seamless positioning and navigation applied in a real test-bed. It deploys two different solutions for positioning estimation in function of the operational environment. Outdoors, a classical hybridization between Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) is applied while indoors, an UWB/INS integration is performed relying on a low-cost commercial platform which integrates both UWB unit and IMU. The implementation of this procedure will be presented with more details in the paper. The aim of the work is to validate the performances in term of accuracy, precision and seamlessness behavior of the low-cost UWB technology available today. The results shown an overall accuracy of about 60 cm considering the entire path walked, both outdoor and indoors.
Published in:	2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 20 - 23, 2020 Hilton Portland Downtown Portland, Oregon
Pages:	1079 - 1084
Cite this article:	Di Pietra, Vincenzo, Dabove, Paolo, Piras, Marco, "Seamless Navigation Using UWB-based Multisensor System," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 1079-1084.
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