Tightly coupled UWB/IMU pose estimation system and method. Hol, J. D., Dijkstra, F., Luinge, H. J., & Slycke, P. J. June 2012.
Tightly coupled UWB/IMU pose estimation system and method [link]Paper  bibtex   
@patent{hol_tightly_2012,
	title = {Tightly coupled {UWB}/{IMU} pose estimation system and method},
	url = {https://patents.google.com/patent/US8203487B2/en},
	nationality = {US},
	language = {en},
	assignee = {Xsens Holding BV},
	number = {US8203487B2},
	urldate = {2019-02-12},
	author = {Hol, Jeroen D. and Dijkstra, Freerk and Luinge, Hendrik Johannes and Slycke, Per Johan},
	month = jun,
	year = {2012},
	keywords = {Patent, inertial, object, time, tracking, uwb}
}

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