Study on UWB/INS integration techniques

In this paper a simulation-based feasibility study on tightly UWB and inertial data integration is presented. Inertial measurement data is generated using a new pedestrian walk generator based on real inertial sensor data. UWB range measurements are generated from ray-launching simulations for different environments and 3D-maps. The final data fusion is realized by a Kalman Filter: Loosely vs. Tightly Integration Techniques are compared and the expected accuracy is presented.