Integration of Local Ultrawideband ToA/AOA Phase Difference of Arrival System and Inertial Navigation Systems

This paper is devoted to a synthesis of an algorithm of integrating radio measurements from an ultrawideband (UWB) ToA/AoA local navigation system with measurements from an inertial system that implements a pedestrian dead reckoning algorithm (PDR). The main formulas of the algorithm are given in the second section of this work (Algorithm Synthesis). The introduction section provides an overview of existing approaches to local navigation and proves the relevance and feasibility of studies described below in the paper. In the fourth section (Experiment) of this work a metric characterizing the accuracy of the synthesized complex algorithm is proposed and quantified by the experiment results. The Experimental stand section shows the equipment on which the experiment confirming the correct operation of the synthesized algorithm was conducted.