Improving tightly-coupled model for indoor pedestrian navigation using foot-mounted IMU and UWB measurements

摘要

Nowadays, the indoor pedestrian navigation has become a research hotspot. How to improve the position tracking accuracy is one of the most important key issues of this topic. In this work, we present an improving tightly-coupled navigation model for indoor pedestrian navigation. In the proposed model, a channel filter is used for the estimation of the distance between the reference node (RN) and blind node (BN) measured by the UWB, and then, a 15-element error state vector is used in the filter for fusing foot-mounted IMU and UWB measurements. The real test results show that the proposed model is effective to reduce the error compared with the conventional model, its mean position error has reduced by about 14.81% compared with the UWB only model.