Fig. 1. Indoor positional tracking technologies. (a) Visual Odometry Algorithm; (b) Iterative Closest Point (ICP) Algorithm; (c) Front-End Back-End SLAM Framework; (d) PDR General Block Diagram. three precise motion trackers (Xsens MTI-300) were used. The MTi units have an onboard sensor fusion engine designed for high-performance AHRS under vibrations and magnetic distortions. GNSS Receiver: We used a Global Navigation Satellite System (GNSS) receiver M8T EVK from U-Blox. The GNSS receiver is serially connected to the logging system through a Raspberry Pi 4. The system can save both the position fixation and the raw pseudorange and pseudorange rates data at 1 Hz. 48 Decawave Ultrawide Band (UWB) Kit: To evaluate wireless indoor positioning technology [15], we incorporated an ultrawideband (UWB) wireless setup into the developed system. We used the MDEK UWB kit from Decawave based on the DWM1001 module. The kit consists of 12 nodes; each node has a Bluetooth communication module and UWB ranging/communication module. The node can be configured either as an anchor or as a tag. The developed system serializes both position and raw wireless range data to the server. IEEE Instrumentation & Measurement Magazine February 2022