Bias And Speed Of Sound Estimation In A Tightly Coupled Wireless Acoustic Sensor Network Aided Inertial Navigation System

The objective of this paper is to develop a low cost method for indoor navigation of autonomous vehicles. This method utilizes the inertial measurements from accelerometers and gyros and updates them with information obtained from the acoustic wireless sensor network. The inertial measurements provide high rate short-term accuracy and the wireless sensor network provides the long-term accuracy, bounding the errors from the inertial sensors. Together these two technologies make a navigation system that can be used for indoor navigation. Results from the simulation show that the 3D position is accurate enough for navigation of autonomous vehicles.