Abdelrahman E. E. Eltoukhy

Nonlinear Deterministic Observer for Inertial Navigation Using Ultra-Wideband and IMU Sensor Fusion

Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial Measurement Unit (IMU) represent low-cost measurement techno…