Proof of Concept Tests on Cooperative Tactical Pedestrian Indoor Navigation

Abstract

In this paper we discuss the effect of cooperation in foot-mounted pedestrian indoor navigation. We study methods to use Ultra-Wide Band (UWB) range measurements between two pedestrians, as well as sharing location information between them. Our aim is to handle the heading offset between two separate pedestrian inertial navigation solutions and to represent the collaborators in a common coordinate frame. Furthermore, we study the effect of the proposed method also on height estimation. Our approach fuses measurements from several sensors, such as Inertial Measurement Units, UWB radios and a barometer using Bayesian filtering. First results from tests done in a realistic scenario show that the method can work in tactical operations.