Indoor localization with multi sensor data fusion in Ad Hoc mobile scenarios

In this paper, we describe an Indoor Positioning System based on a proper combination of data from Inertial, Magnetic, Pressure sensors and Ultra-Wideband (UWB) radio. The system is able to provide accurate and reliable localization of Mobile Agents in GPS denied environments and the architecture is based on a typical anchor free approach where UWB is used in order to provide ranging and communications. The new developed architecture combines the previously mentioned data and increases the performance in comparison with a system based on single sensor approach (i.e. dead reckoning Inertial Systems, UWB Systems).