Experimental study of UWB-OFDM SAR for indoor navigation with INS integration

Document Type

Conference Proceeding

Publication Date

9-17-2012

Abstract

There is a great need to develop non-GPS based methods for positioning and navigation in situations where GPS is not available. We previously developed a set of navigation algorithms for a novel navigation sensor, a UWB-OFDM radar, and analyzed their performance in an airborne simulation study. This paper presents an experimental analysis and validation of the UWB-OFDM navigation algorithms in an indoor environment. A previously constructed UWB-OFDM system prototype is integrated with a HG1700 tactical grade INS on an indoor mobile platform. The platform moved through a hallway containing both corner reflectors and unknown scatterers embedded in the environment. The range to and Doppler measurements of each tracked reflector are used as updates to the navigation filter, implemented as a modified EKF. The EKF combines the radar measurements with INS measurements to compute an optimal estimate of the platform position error. The navigation solution is computed for two scenarios: INS-only position, and INS position corrected by the EKF error estimate. Comparison with the true trajectory shows that the solution with EKF correction improved the navigation solution by an order of magnitude. Abstract © Institute of Navigation

Comments

This ION conference paper is accessible by ION membership or purchase.

Co-author Kauffman was an AFIT PhD student at the time of this conference. (AFIT-ENG-DS-12-03, December 2012)

Source Publication

25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012

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