Indoor location and position tracking system using UWB-IR and IMU

• Main Author: Wang, Kailun
• Other Authors: Law Choi Look
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/157283
• Institution: Nanyang Technological University

This report presents the research and test results regarding an indoor positioning system by utilising the integration of IMU sensors and UWB devices. Madgwick’s filter algorithm is used to correct the orientation of the sensor, and by applying the integral method, the displacement of the sensor is calculated from the acceleration. The UWB devices were used as a subsystem to support the output from the IMU subsystem. The entire system was deployed on the Linux operation system in Raspberry Pi. It is found that although the algorithm and theory are feasible, the system operation performance is primarily affected by the system latency, resulting in the IMU subsystem failing to output satisfactory results. On the other hand, the UWB subsystem performs well and largely determines the whole system’s performance.