Indoor location tracking using IMU and UWB

This report investigates the accuracy of an indoor tracking system utilizing a sensor fusion algorithm, which integrates two single navigation devices: IMU (Inertial Measurement Unit) and UWB (Ultra-wideband) technologies. These positioning methods are tested with various sensor configurations, and...

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Main Author: Gouw, Hugo Sebastian
Other Authors: Law Choi Look
Format: Final Year Project
Language:English
Published: Nanyang Technological University 2024
Subjects:
Online Access:https://hdl.handle.net/10356/176206
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1762062024-05-17T15:43:43Z Indoor location tracking using IMU and UWB Gouw, Hugo Sebastian Law Choi Look School of Electrical and Electronic Engineering ECLLAW@ntu.edu.sg Engineering This report investigates the accuracy of an indoor tracking system utilizing a sensor fusion algorithm, which integrates two single navigation devices: IMU (Inertial Measurement Unit) and UWB (Ultra-wideband) technologies. These positioning methods are tested with various sensor configurations, and their performance is compared against ground truth data to evaluate both accuracy and energy efficiency. The sensor fusion algorithm operates by designating one sensor as the primary source and refining its measurements using data from the other sensor. The study illustrates how the sensor fusion algorithm successfully addresses the limitations of both IMU and UWB devices. While IMU performs well in maintaining accuracy along a straight-line trajectory, it suffers from the accumulation of heading errors. On the other hand, UWB exhibits greater reliability in managing heading changes but struggles with inconsistent data in a straight-line trajectory. Bachelor's degree 2024-05-15T01:21:54Z 2024-05-15T01:21:54Z 2024 Final Year Project (FYP) Gouw, H. S. (2024). Indoor location tracking using IMU and UWB. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/176206 https://hdl.handle.net/10356/176206 en A3086-231 application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering
spellingShingle Engineering
Gouw, Hugo Sebastian
Indoor location tracking using IMU and UWB
description This report investigates the accuracy of an indoor tracking system utilizing a sensor fusion algorithm, which integrates two single navigation devices: IMU (Inertial Measurement Unit) and UWB (Ultra-wideband) technologies. These positioning methods are tested with various sensor configurations, and their performance is compared against ground truth data to evaluate both accuracy and energy efficiency. The sensor fusion algorithm operates by designating one sensor as the primary source and refining its measurements using data from the other sensor. The study illustrates how the sensor fusion algorithm successfully addresses the limitations of both IMU and UWB devices. While IMU performs well in maintaining accuracy along a straight-line trajectory, it suffers from the accumulation of heading errors. On the other hand, UWB exhibits greater reliability in managing heading changes but struggles with inconsistent data in a straight-line trajectory.
author2 Law Choi Look
author_facet Law Choi Look
Gouw, Hugo Sebastian
format Final Year Project
author Gouw, Hugo Sebastian
author_sort Gouw, Hugo Sebastian
title Indoor location tracking using IMU and UWB
title_short Indoor location tracking using IMU and UWB
title_full Indoor location tracking using IMU and UWB
title_fullStr Indoor location tracking using IMU and UWB
title_full_unstemmed Indoor location tracking using IMU and UWB
title_sort indoor location tracking using imu and uwb
publisher Nanyang Technological University
publishDate 2024
url https://hdl.handle.net/10356/176206
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