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Title | A Biased Extended Kalman Filter for indoor localization of a mobile agent using low-cost IMU and UWB wireless sensor network |
Publication Type | Conference Paper |
Year of Publication | 2012 |
Authors | Benini A., Mancini A, Marinelli A., Longhi S |
Conference Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
Abstract | Indoor localization of mobile agents using wireless technologies is becoming very important in military and civil applications. This paper introduces an approach for the indoor localization of a mobile agent based on Ultra-WideBand technology using a Biased Extended Kalman Filter (EKF) as a possible technique to improve the localization. The proposed approach allows to use a low-cost IMU (inertial measurement unit) which performances are improved by a calibration procedure. The obtained results show that the filter allows to obtain better result in terms of localization due to the estimation of bias and scale factor. © 2012 IFAC. |
URL | http://www.scopus.com/inward/record.url?eid=2-s2.0-84880993407&partnerID=40&md5=c8d42599e5ee04e0b909b6265235c723 |
DOI | 10.3182/20120905-3-HR-2030.00144 |