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Relative positioning between multiple mobile users is essential for manyapplications, such as search and rescue in disaster areas or human socialinteraction. Inertial-measurement unit (IMU) is promising to determine thechange of position over short periods of time, but it is very sensitive toerror accumulation over long term run. By equipping the mobile users withranging unit, e.g. ultra-wideband (UWB), it is possible to achieve accuraterelative positioning by trilateration-based approaches. As compared to visionor laser-based sensors, the UWB does not need to be with in line-of-sight andprovides accurate distance estimation. However, UWB does not provide anybearing information and the communication range is limited, thus UWB alonecannot determine the user location without any ambiguity. In this paper, wepropose an approach to combine IMU inertial and UWB ranging measurement forrelative positioning between multiple mobile users without the knowledge of theinfrastructure. We incorporate the UWB and the IMU measurement into aprobabilistic-based framework, which allows to cooperatively position a groupof mobile users and recover from positioning failures. We have conductedextensive experiments to demonstrate the benefits of incorporating IMU inertialand UWB ranging measurements.

Cooperative Relative Positioning of Mobile Users by Fusing IMU Inertial and UWB Ranging Information