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中南大学学报(英文版)

Journal of Central South University

Vol. 26    No. 8    August 2019

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Hybrid ToA and IMU indoor localization system by various algorithms
CHEN Xue-chen(陈雪晨)1, CHU Sheng(楚盛)1, LI Fan(李繁)1, CHU Guang(楚广)2

1. School of Electronics and Information Technology, Sun Yat-Sen University, Guangzhou 510275, China;
2. School of Metallurgy and Environment, Central South University, Changsha 410083, China

Abstract:In this paper, we integrate inertial navigation system (INS) with wireless sensor network (WSN) to enhance the accuracy of indoor localization. Inertial measurement unit (IMU), the core of the INS, measures the accelerated and angular rotated speed of moving objects. Meanwhile, the ranges from the object to beacons, which are sensor nodes with known coordinates, are collected by time of arrival (ToA) approach. These messages are simultaneously collected and transmitted to the terminal. At the terminal, we set up the state transition models and observation models. According to them, several recursive Bayesian algorithms are applied to producing position estimations. As shown in the experiments, all of three algorithms do not require constant moving speed and perform better than standalone ToA system or standalone IMU system. And within them, two algorithms can be applied for the tracking on any path which is not restricted by the requirement that the trajectory between the positions at two consecutive time steps is a straight line.

 

Key words: indoor localization; time of arrival (ToA); inertial measurement unit (IMU); Bayesian filter; extended Kalman filter; MAP algorithm

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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