An INS/UWB joint indoor positioning algorithm based on hypothesis testing and yaw angle | Wireless Networks

An INS/UWB joint indoor positioning algorithm based on hypothesis testing and yaw angle | Wireless Networks

Wireless sensor network (WSN) is widely used in indoor positioning, but indoor positioning is susceptible to non-line-of-sight (NLOS) propagation environment. The inertial navigation system (INS) does not depend on external information, but it will produce a large cumulative error when working for a long time......