Foot-Mounted Inertial Navigation and Cooperative Sensor Fusion for Indoor Positioning

Peter Stromback, Jouni Rantakokko, Sven-Lennart Wirkander, Mikael Alexandersson, Karina Fors, Isaac Skog, Peter Handel

Abstract:	In this paper we examine the effect of introducing an opportunistic cooperative navigation approach between soldiers, or first responders, equipped with foot-mounted IMUs and UWB-ranging equipment. The foot-mounted navigation system is based on a 15-state Extended Kalman filter, utilizing zero-velocity updates. The addition of range measurements between cooperative units displayed a significant improvement of the navigation accuracy in the studied scenarios. This approach has the potential to enable accurate positioning for several minutes in GPS-denied environments. Furthermore, the performance of the UWB-ranging sensor is examined and the resulting error statistics and typical ranging distances are characterized in indoor environments.
Published in:	Proceedings of the 2010 International Technical Meeting of The Institute of Navigation January 25 - 27, 2010 Catamaran Resort Hotel San Diego, CA
Pages:	89 - 98
Cite this article:	Stromback, Peter, Rantakokko, Jouni, Wirkander, Sven-Lennart, Alexandersson, Mikael, Fors, Karina, Skog, Isaac, Handel, Peter, "Foot-Mounted Inertial Navigation and Cooperative Sensor Fusion for Indoor Positioning," Proceedings of the 2010 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2010, pp. 89-98.
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