The IMU/UWB Fusion Positioning Algorithm Based on a Particle Filter

The IMU/UWB Fusion Positioning Algorithm Based on a Particle Filter

This paper integrates UWB (ultra-wideband) and IMU (Inertial Measurement Unit) data to realize pedestrian positioning through a particle filter in a non-line-of-sight (NLOS) environment. After the acceleration and angular velocity are integrated by the ZUPT-based algorithm, the velocity and orientat...

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Bibliographic Details
Main Authors: Yan Wang, Xin Li
Format: Article
Language:English
Published: MDPI AG 2017-08-01
Series:ISPRS International Journal of Geo-Information
Subjects:
UWB/INS
ZUPT
particle filter
indoor location
Online Access:https://www.mdpi.com/2220-9964/6/8/235

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