Augmentation of Low-cost GPS/MEMS INS with UWB Positioning System for Seamless Outdoor/Indoor Positionng

Makoto Tanigawa, Jeroen D. Hol, Fred Dijkstra, Henk Luinge, Per Slycke

Abstract:	An experimental system was developed using low-cost commercial off-the-shelf (COTS) UWB positioning system to augment GPS/MEMS INS systems where UWB positioning infrastructure is available. A multi-sensor fusion algorithm was designed for this system which offers high-resolution and high-accuracy 6DOF (3D position and 3D orientation) data. An experiment showed promising results showing good stability and seamless transitions in which inertial sensors are stabilized with different combination of position aiding sources. Dynamic Position accuracy of 20 cm was obtained where UWB position measurements were available, and a tactical-grade IMU was used as reference.
Published in:	Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008) September 16 - 19, 2008 Savannah International Convention Center Savannah, GA
Pages:	1804 - 1811
Cite this article:	Tanigawa, Makoto, Hol, Jeroen D., Dijkstra, Fred, Luinge, Henk, Slycke, Per, "Augmentation of Low-cost GPS/MEMS INS with UWB Positioning System for Seamless Outdoor/Indoor Positionng," Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008), Savannah, GA, September 2008, pp. 1804-1811.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In