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Indoor Positioning at Low speed

Develop a prototype indoor positioning system for low speed robot/automotive application, using UWB/Pozyx focusing on improving its accuracy by taking into account other data sources, like odometry and knowledge of the vehicle itself. The research questions that accompany this design challenge are:

What are additional information sources needed to improve indoor positioning with UWB?
How to apply Kalman or particle filters in context of UWB and positioning? This requires Kalman filter (E/U KF) or particle filter mathematics and (vehicle) modelling.

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