A magnetometer-free indoor human localization based on loosely coupled IMU/UWB fusion.

The magnetic distortions in indoor environment affects the accuracy of yaw angle estimation using magnetometer. Thus, the accuracy of indoor localization based on inertial-magnetic sensors will be affected as well. To address this issue, this paper proposes a magnetometer-free solution for indoor human localization and yaw angle estimation. The proposed algorithm fuses a wearable inertial sensor consisting of MEMS-based accelerometer and gyroscope with a portable ultra-wideband (UWB) localization system in a cascaded two-step filter consisting of a tilt Kalman filter and a localization Kalman filter. By benchmarking against an optical motion capture system, the experimental results show that the proposed algorithm can accurately track position and velocity as well as the yaw angle without using magnetometer.