Radio-asissted inertial navigation system by tightly coupled sensor data fusion: Experimental results

Experimental results from data fusion of an inertial sensors based navigation system aided by a pedestrian step length estimations and an ultra-wideband system (UWB) are presented in this paper. One part of the presented experimental setup is a torso mounted inertial system with IMU, barometer and electronic compass with additional step length updates. The other part is the UWB system: The receiver is mounted on a backpack and measures the signal time of flight differences to several indoor base stations. In the paper the hardware setup, UWB implementation, step length updates as well as the data fusion filter are discussed. Finally results are presented, that show the advantage of a tightly coupled navigation filter, where range measurements are processed directly in the navigation filter.