INS/FMCW radar integrated local positioning system

The aim of this research paper is to explore the feasibility of integrating an inertial measurement unit (IMU) with a frequency-modulated continuous wave (FMCW)-based local positioning system (LPS) to mitigate the effects of multipath bias in highly reflective indoor scenarios. The LPS uses a time difference of arrival (TDOA) positioning scheme. The IMU consists of accelerometer and gyroscope triads. Using a proper integration algorithm combined with a zero-velocity update (ZUPT) technique, a mitigation of about 40% is achieved in terms of the overall LPS position absolute error.