This paper proposes a positioning algorithm that fuses inertial measurement unit (IMU) pedestrian dead reckoning (PDR) process and ultra-wideband (UWB) sensors using the alternating direction method of multipliers (ADMM) algorithm. The cooperative pos...
This paper proposes a positioning algorithm that fuses inertial measurement unit (IMU) pedestrian dead reckoning (PDR) process and ultra-wideband (UWB) sensors using the alternating direction method of multipliers (ADMM) algorithm. The cooperative positioning algorithm uses the UWB measured distance between tags and an inertial sensor. The PDR coordinates are the measured every unit time as an initial value of the ADMM based. We have verified our approach and analyzed the performance of the positioning error in MATLAB.