Figure 4
From: Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging
Illustration of the decentralized system architecture. Step-wise inertial navigation is done locally in the foot-mounted units. Displacement and heading changes are transferred to a local processing device, where step-wise dead reckoning is performed and relayed together with ranging data to a central fusion center. The fusion center may be carried by an agent, reside in a vehicle or something similar, or be distributed among agents.