A Loose-Coupled Fusion of Inertial and UWB Assisted by a Decision-Making Algorithm for Localization of Emergency Responders
, Duarte Fernandes 1, André P. Catarino 2, Ana M. Rocha 2 and João L. Monteiro 1Round 1
Reviewer 1 Report
In the UWB positioning subsystem, the analytical method sould be described in more detail. What the authors' contribution should be clearly described. In the UWB positioning subsystem, the motion model sould be presented for the EKF. The proposed fusing method seems to be similar to the loosely coupled GPS/INS method. The proposed NLOS check method should be described in more detail. The reason the proposed method gives better navigation results should be explained in more rigorous manner. The refereces [8] and [9] are not cited in the manuscript.Author Response
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Author Response File: 
Author Response.pdf
Reviewer 2 Report
Authors developed and tested hybrid localization approach. They designed two different experimental setups with different propagation conditions. Three different data fusion algorithms are tested, based on three different time-of-arrival positioning algorithms, and experimental results show a localization accuracy of below 1.5m for a 99th percentile. The authors did a serious job, results of their work will be definitely useful in different applications: positioning of employees in industrial environments and in emergency responders’ operations, 3D motion detection, patient monitoring, logistics and etc.
Author Response
Please, find the response in the file attached.
Author Response File: Author Response.pdf
Reviewer 3 Report
The paper looks quite interesting and deserves publication. My only request concerns the description of the experimental device : I consider that it would be highly advisâble to give a detailed information about IMU. Without such data, it is impossible to compare with other experiments.
Author Response
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Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
Even thogh the UWE positioing and subsystem and motion model for EKF are described in reference [19], it would be better for completeness of this manuscript and readers to include the short description and motion model in the manuscript.
Author Response
As requested by the reviewers, three new subsections (2.3.1, 2.3.2, and 2.3.3) were added to the manuscript to provide a brief explanation about the ToA-based positioning algorithms.
Additionally, all the document was proofread to improve its readability.
Once again, the authors would like to thank the reviewer for the recommendations provided. Those recommendations were essential to improve the quality of the manuscript.
