Pedestrian Tracking Solution Combining an Impulse Radio Handset Transmitter with an Ankle-Mounted Inertial Measurement Unit

Figure 8

Indoor layout of tracking experiments, with 4 BSs in room A, the 2 rooms and the corridor being separated by walls. Actual (red) and estimated (blue) trajectories with an ankle-mounted 3A3G IMU only (a), or a 3A3G IMU loosely coupled with IR-UWB (b).

(a)

(b)