UWB Sensor Placement for Foot-to-Foot Ranging in Dual-Foot-Mounted ZUPT-Aided INS
Changwei Chen, Chi-Shih Jao, Andrei M. Shkel, Solmaz S. Kia
Abstract
This letter studies the impact of the ultra-wideband (UWB) sensor placement for a zero velocity update aided pedestrian inertial navigation solution that uses foot-to-foot ranging feedback to improve its localization accuracy. Several sensor configurations are investigated in both static and dynamic cases. The root mean square error is used as the performance metric for the static measurement accuracy, whereas the circular error probable is chosen to evaluate the sensor configurations in dynamic experiments.
Topics & Concepts
RangingFoot (prosody)Inertial navigation systemInertial measurement unitComputer scienceMetric (unit)Inertial frame of referenceWidebandSimulationControl theory (sociology)EngineeringElectronic engineeringArtificial intelligencePhysicsTelecommunicationsControl (management)Operations managementPhilosophyQuantum mechanicsLinguisticsIndoor and Outdoor Localization TechnologiesUnderwater Vehicles and Communication SystemsGNSS positioning and interference