3D INS/UWB based real time sensor fusion indoor position tracking architecture

Accurate indoor position tracking and analysis of the movement dynamics of autonomous driving systems are important challenges when it comes to automatize industrial processing, supply chains or warehouses. In this paper, the authors present an indoor position tracking architecture with a novel sensor fusion approach for autonomous robots in three-dimensional space. For robots to be able to drive autonomous, they need information of their position, speed and orientation in 3D-space. With the presented architecture, position information is provided by the Indoor Positioning System (IPS) and orientation information as well as velocity are determined by the Inertial Navigation System (INS). The proposed tracking architecture combines those informations with a sensor fusion approach, thus enabling the autonomous driving system.