Indoor pedestrian tracking by combining recent INS and UWB measurements

The application of indoor pedestrian navigation is becoming more widely in people's lives. In order to compensate the shortcomings of a single navigation method, this paper presents an indoor pedestrian navigation by combining foot-mounted inertial measurement unit (IMU) and Ultra-wide bandwidth (UWB) measurements. Then, in order to improve the localization accuracy, unbiased finite impulse response (UFIR) filter is used for the data fusion in this paper. The experiments show that UFIR has good robustness compared with the Kalman filter (KF).