Indoor Tracking by Adding IMU and UWB using Unscented Kalman Filter

Abstract

In recent days Internet of Things (IoT) applications becoming prominent, like smart home, connected health, smart farming, smart retail and smart manufacturing, will lead to a challenging task in providing low cost, high precision localization and tracking in indoor environments. Positioning in indoor is yet an open issue mostly because of not receiving the signals of GPS in the context of indoor. Inertial Measurement Unit (IMU) can give an exact indoor tracking, however, they regularly experience the cumulated error as the speed and position are gotten by incorporating the increasing acceleration constantly as for time. At the same time Ultra Wideband (UWB) localization and tracking will be influenced by the real time indoor conditions. It is difficult to utilize an independent localization and tracking system to accomplish high precision in indoor conditions. In this paper, we come up with an incorporated positioning system in indoor by joining IMU and the UWB over the Unscented Kalman Filter (UKF) and the Extended Kalman Filter (EKF) to enhance the precision. All these algorithms are analyzed and assessed dependent on their exhibition.