Scalable and Modular Ultra-Wideband Aided Inertial Navigation

Roland Jung,Stephan Weiss,Roland Jung,Stephan Weiss

Navigating accurately in potentially GPS-denied environments is a perquisite of autonomous systems. Relative localization based on ultra-wideband (UWB) is - especially indoors - a promising technology. In this paper, we present a probabilistic filter based Modular Multi-Sensor Fusion (MMSF) approach with the capability of using efficiently all information in a fully meshed UWB ranging network. Thi...