Study on Indoor Combined Positioning Method Based on TDOA and IMU

  • Chaochao Yang
  • Jianhui ChenEmail author
  • Xiwei Guo
  • Deliang Liu
  • Yunfei Shi
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 516)


This paper studies an indoor positioning method combining wireless sensor network (WSN) and inertial navigation system (INS). Because the positioning error of INS increases with time, the long-term positioning accuracy is poor, so the combination uses the wireless sensor network to measure the distance between unknown node and base station by TDOA method. The dead-reckoning data of inertial measurement unit (IMU) and the distance information of TDOA method are transmitted to the processing terminal, and then the particle filter algorithm is used to smooth the data to obtain the position estimation. The cumulative positioning error of INS is corrected, and the non-line-of-sight (NLOS) error in TDOA positioning method is reduced. The experimental results show that compared with the single TDOA localization method, the accuracy of the combined positioning method is higher.


Indoor positioning TDOA IMU Particle filter 



This work is supported by the National Natural Science Foundation of China under Grant 61601494.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Chaochao Yang
    • 1
  • Jianhui Chen
    • 1
    Email author
  • Xiwei Guo
    • 1
  • Deliang Liu
    • 1
  • Yunfei Shi
    • 1
  1. 1.Missile Engineering DepartmentArmy Engineering University of PLAShijiazhuangChina

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