An open software architecture for virtual reality interaction
VRST '01 Proceedings of the ACM symposium on Virtual reality software and technology
Indoor Navigation Using a Diverse Set of Cheap, Wearable Sensors
ISWC '99 Proceedings of the 3rd IEEE International Symposium on Wearable Computers
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Pedestrian Tracking with Shoe-Mounted Inertial Sensors
IEEE Computer Graphics and Applications
Ultrasound-aided pedestrian dead reckoning for indoor navigation
Proceedings of the first ACM international workshop on Mobile entity localization and tracking in GPS-less environments
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In this work we present the design principles of a wearable positioning system for users in unprepared indoor environments. We describe the most suitable technology for our application and we model the dynamics of a walking user. The system uses inertial sensors and a location system based on ultrawideband (UWB). Data fusion is carried out with a Kalman filter. The user position is estimated from data provided by the UWB location system. To update the position and direction of the user we use a dead reckoning algorithm. The use of redundant sensors and the data fusion technique minimises the presence of shadow zones in the environment. We show the advantages of combining different sensors systems.