IMU/magnetometer based 3D indoor positioning for wheeled platforms in NLoS scenarios

In recent years the research on localization and navigation systems in GNSS-denied environments has been focused from both industry and research. Although many technologies based on e.g. UWB, WLAN, ultrasonic or infrared have been utilized, there is still no final solution for position and orientation determination in indoor areas. The fact, that applied signals in common approaches are influenced by fading and multipath inside buildings leads to restrictions on line-of-sight (LoS) conditions.