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INS inertial navigation system
Inertial Navigation Systems (INS) have been used for navigation purposes for a long time.
One solution in such a case is to use an INS, but the drift associated with such systems may become problematic if the user, i.e. the firefighter/soldier, spends an extended period of time moving around in
A well-known solution to this problem is to occasionally provide the user with absolute location estimates to zero out the INS drift.
The INS is still needed for any decent size building/structure, because it is often not possible to determine the range to as many as four anchor nodes due to signal attenuation by walls, ceilings, and other objects.
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