Abstract —Positioning systems should depend on a number of sub-systems such as global positioning system (GPS), inertial navigation system (INS), lidar, radar, vision systems etc. due to the growing popularity of autonomous vehicles. High accuracy of positioning process must be included due to driving safety (of autonomous vehicles and drivers in vehicles with assistance systems). The paper investigates the movement of a radiocontrolled (RC) model. The article presents the process of fusion and filtration on data from ultra-wideband (UWB) and INS systems. It focuses on the error that occurs in the first phase of determining a position, namely when the distance between two nodes is calculated. This error affects further process of data – trilateration, which is the next step to determine the position of objects. A method of data correction based on system information obtained from static measurements is also presented. The tests were carried out both indoors and outdoors, which illustrates the variability of the problem depending on the environment. Reference data for dynamic tests were obtained from a single-stripe lidar. 
 

Index Terms—UWB, indoor/outdoor positioning, MEMS, lidar, filters

Cite: Krzysztof Paszek, Damian Grzechca, Mateusz Tomczyk, and Artur Marciniak, "UWB Positioning System with the Support of MEMS Sensors for Indoor and Outdoor Environment," Journal of Communications vol. 15, no. 6, pp. 511-518, June 2020. Doi: 10.12720/jcm.15.6.511-518

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