Tracking indoor objects with inertial sensor measurements

摘要

Systems and methods for localizing and tracking mobile objects are provided. A method includes determining an initial location of a node in a multi-hop network based on multi-lateration from an unmanned aerial vehicle. The method also includes applying an adaptive aperture to address a non-uniform velocity of the node based on the turn and a velocity vector. A determination whether localization for the node can be implemented using first hop nodes in the multi-hop network is made. In response to a determination that localization cannot be implemented using the first hop nodes, inertial sensor measurements associated with the node are accessed and the inertial sensor measurements are integrated with the adaptive aperture to improve localization accuracy.