Hybrid indoor pedestrian navigation combining an INS and a spatial non-uniform UWB-network

The importance of location based services (LBS) is steadily increasing with progressive automation and interconnectedness of systems and processes. However, a comprehensive localization and navigation solution is still part of research. Especially for dynamic and harsh indoor environments, accurate and affordable localization and navigation remains a challenge. In this paper, we present a hybrid localization system providing position information and navigation aid to pedestrian in dynamic indoor environments, like construction sites, by combining an IMU and a spatial non-uniform UWB-network. The key contribution of this paper is a hybrid localization concept and experimental results, demonstrating in an application near scenario the enhancements introduced by the combination of an inertial navigation system (INS) and a spatial non-uniform UWB-network.