Augmented UWB-ZUPT-SLAM Utilizing Multisensor Fusion

Augmented UWB-ZUPT-SLAM Utilizing Multisensor Fusion

This article proposes a generalized UltraWideBand (UWB)-Zero-velocity-UPdaTe (ZUPT)-simultaneous localization and mapping (SLAM) algorithm, a SLAM approach, utilizing a combination of foot-mounted localization systems integrating inertial measurement units (IMUs), UWB modules, barometers, and dynami...

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Bibliographic Details
Main Authors: Chi-Shih Jao, Danmeng Wang, Changwei Chen, Eudald Sangenis, Joe Grasso, Solmaz S. Kia, Andrei M. Shkel
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Journal of Indoor and Seamless Positioning and Navigation
Subjects:
Differential barometer
extended Kalman filter (EKF)
embedded systems
inertial measurement unit (IMU)
indoor navigation
inertial navigation
Online Access:https://ieeexplore.ieee.org/document/10283865/

Internet

https://ieeexplore.ieee.org/document/10283865/

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