Augmentation of Low-cost GPS/MEMS INS with UWB Positioning System for Seamless Outdoor/Indoor Positionng

An experimental system was developed using low-cost commercial off-the-shelf (COTS) UWB positioning system to augment GPS/MEMS INS systems where UWB positioning infrastructure is available. A multi-sensor fusion algorithm was designed for this system which offers high-resolution and high-accuracy 6DOF (3D position and 3D orientation) data. An experiment showed promising results showing good stability and seamless transitions in which inertial sensors are stabilized with different combination of position aiding sources. Dynamic Position accuracy of 20 cm was obtained where UWB position measurements were available, and a tactical-grade IMU was used as reference.