| Summary: | Indoor localization, especially Pedestrian Dead Reckoning (PDR) has become a popular topic. To have a better performance, PDR needs absolute position measurement, and Ultra Wide Band (UWB) is often a good option. The weight and size limitation to a PDR device makes power consumption an important impact to the use experience. In this dissertation, a UWB-assisted PDR system with Error State Kalman Filter (ESKF) and Zero-Velocity Update (ZUPT) is used as an example and the detailed power consumption is calculated. By tuning the update rate of ESKF and UWB measurement, the power consumption of the PDR is reduced with different navigation accuracy loss.
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