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Open AccessFeature PaperArticle

A Loose-Coupled Fusion of Inertial and UWB Assisted by a Decision-Making Algorithm for Localization of Emergency Responders

1
Algoritmi Center, University of Minho, 4800-058 Guimarães, Portugal
2
Center of Textile Science and Technology, University of Minho, 4800-058 Guimarães, Portugal
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(12), 1463; https://doi.org/10.3390/electronics8121463
Received: 1 November 2019 / Revised: 25 November 2019 / Accepted: 29 November 2019 / Published: 2 December 2019
(This article belongs to the Section Computer Science & Engineering)
Combining different technologies is gaining significant popularity among researchers and industry for the development of indoor positioning systems (IPSs). These hybrid IPSs emerge as a robust solution for indoor localization as the drawbacks of each technology can be mitigated or even eliminated by using complementary technologies. However, fusing position estimates from different technologies is still very challenging and, therefore, a hot research topic. In this work, we pose fusing the ultrawideband (UWB) position estimates with the estimates provided by a pedestrian dead reckoning (PDR) by using a Kalman filter. To improve the IPS accuracy, a decision-making algorithm was developed that aims to assess the usability of UWB measurements based on the identification of non-line-of-sight (NLOS) conditions. Three different data fusion algorithms are tested, based on three different time-of-arrival positioning algorithms, and experimental results show a localization accuracy of below 1.5 m for a 99th percentile.
Keywords: data fusion; emergency responders; indoor positioning system (IPS); loose-coupled position fusion; UWB; unstructured environments data fusion; emergency responders; indoor positioning system (IPS); loose-coupled position fusion; UWB; unstructured environments
MDPI and ACS Style

Ferreira, A.G.; Fernandes, D.; Catarino, A.P.; Rocha, A.M.; Monteiro, J.L. A Loose-Coupled Fusion of Inertial and UWB Assisted by a Decision-Making Algorithm for Localization of Emergency Responders. Electronics 2019, 8, 1463.

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