Sensor Fusion Approaches

This chapter introduces some of the self‐contained sensor fusion approaches that might be used in the pedestrian inertial navigation. Magnetometry is one of the most commonly used techniques, where the position and/or orientation of the system can be derived by measuring the surrounding magnetic field. Magnetometry is one of the most commonly used techniques to be fused with the Zero‐Velocity Update‐aided pedestrian inertial navigation. Altimetry is another aiding technique that is widely used for navigation. Altimetry is simple to implement but is vulnerable to disturbances of environmental pressure and changes in temperature. Another way of implementing estimations of absolute position is computer vision. Multiple Inertial Measurement Units can be used to work simultaneously in a system to improve the overall performance. The chapter focuses on the self‐contained type of ranging techniques. Location estimation with Ultrawide Band ranging is straightforward in a line‐of‐sight and single‐path environment.