Radio-asissted inertial navigation system by tightly coupled sensor data fusion: Experimental results. - Christian Ascher; Sebastian Werling; Gert F. Trommer; Lukasz Zwirello; Carina Hansmann; Thomas Zwick (IPIN, 2012)

Sensor data fusion in UWB-supported inertial navigation systems for indoor navigation. - Lukasz Zwirello; Xuyang Li; Thomas Zwick; Christian Ascher; Sebastian Werling; Gert F. Trommer (ICRA, 2013)