Indoor location and position tracking system using UWB-IR and IMU
This report presents the research and test results regarding an indoor positioning system by utilising the integration of IMU sensors and UWB devices. Madgwick’s filter algorithm is used to correct the orientation of the sensor, and by applying the integral method, the displacement of the sensor is...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/157283 |
| _version_ | 1811687951511322624 |
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| author | Wang, Kailun |
| author2 | Law Choi Look |
| author_facet | Law Choi Look Wang, Kailun |
| author_sort | Wang, Kailun |
| collection | NTU |
| description | This report presents the research and test results regarding an indoor positioning system by utilising the integration of IMU sensors and UWB devices. Madgwick’s filter algorithm is used to correct the orientation of the sensor, and by applying the integral method, the displacement of the sensor is calculated from the acceleration. The UWB devices were used as a subsystem to support the output from the IMU subsystem. The entire system was deployed on the Linux operation system in Raspberry Pi. It is found that although the algorithm and theory are feasible, the system operation performance is primarily affected by the system latency, resulting in the IMU subsystem failing to output satisfactory results. On the other hand, the UWB subsystem performs well and largely determines the whole system’s performance. |
| first_indexed | 2024-10-01T05:24:28Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/157283 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:24:28Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1572832023-07-07T19:00:27Z Indoor location and position tracking system using UWB-IR and IMU Wang, Kailun Law Choi Look School of Electrical and Electronic Engineering ECLLAW@ntu.edu.sg Engineering::Electrical and electronic engineering This report presents the research and test results regarding an indoor positioning system by utilising the integration of IMU sensors and UWB devices. Madgwick’s filter algorithm is used to correct the orientation of the sensor, and by applying the integral method, the displacement of the sensor is calculated from the acceleration. The UWB devices were used as a subsystem to support the output from the IMU subsystem. The entire system was deployed on the Linux operation system in Raspberry Pi. It is found that although the algorithm and theory are feasible, the system operation performance is primarily affected by the system latency, resulting in the IMU subsystem failing to output satisfactory results. On the other hand, the UWB subsystem performs well and largely determines the whole system’s performance. Bachelor of Engineering (Electrical and Electronic Engineering) 2022-05-14T06:09:06Z 2022-05-14T06:09:06Z 2022 Final Year Project (FYP) Wang, K. (2022). Indoor location and position tracking system using UWB-IR and IMU. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/157283 https://hdl.handle.net/10356/157283 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering Wang, Kailun Indoor location and position tracking system using UWB-IR and IMU |
| title | Indoor location and position tracking system using UWB-IR and IMU |
| title_full | Indoor location and position tracking system using UWB-IR and IMU |
| title_fullStr | Indoor location and position tracking system using UWB-IR and IMU |
| title_full_unstemmed | Indoor location and position tracking system using UWB-IR and IMU |
| title_short | Indoor location and position tracking system using UWB-IR and IMU |
| title_sort | indoor location and position tracking system using uwb ir and imu |
| topic | Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/157283 |
| work_keys_str_mv | AT wangkailun indoorlocationandpositiontrackingsystemusinguwbirandimu |