Precise Indoor Positioning and Attitude Determination using Terrestrial Ranging Signals

This paper presents the results of a new multipath mitigating antenna “V-Ray” for use with terrestrial ranging signals in severe multipath indoor environments. The V-Ray antenna –as used in the Locata positioning system–forms tight beams that provide line-of-sight range measurements as well as azimuth measurements. To take advantage of these two types of measurements a new navigation algorithm–Position and Attitude Modelling System (PAMS)–is proposed for processing carrier phase and azimuth measurements via an unscented Kalman filter. The PAMS can output the complete navigation parameters of position, velocity, acceleration and attitude simultaneously. The indoor test was conducted in a metal warehouse and the results confirmed that the horizontal positioning solutions had an accuracy of better than four centimetres and an orientation accuracy of better than 1°.

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