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AoI-FusionNet: Age-Aware Tightly Coupled Fusion of UWB-IMU under Sparse Ranging Conditions
Description
Accurate motion tracking of snow particles in avalanche events requires robust localization in global navigation satellite system (GNSS)-denied outdoor environments. This paper introduces AoI-FusionNet, a tightly coupled deep learning-based fusion framework that directly combines raw ultra-wideband (UWB) time-of-flight (ToF) measurements with inertial measurement unit (IMU) data for 3D trajectory estimation. Unlike loose-coupled pipelines based on intermediate trilateration, the proposed approac