Inertial localization system using unscented Kalman filter for 3D positioning

This paper presents the implementation of an novel inertial localization system for 3D positioning including 3 main functions: unscented Kalman filter (UKF) based sensor data fusion for accurate orientation determination; magnetic disturbance detection and minimization for robustness and stability when experiencing local magnetic disturbance; Zero Velocity Update (ZUPT) for velocity correction. In both indoor and outdoor experiment scenarios, the system is able to obtain correct 3D trajectory.