Recently, localization technology is highlighted as mobile devices become popular. The existing WPAN system can localize position for indoor because GPS cannot be used in indoor. The existing WPAN positioning system is made up of tags, anchors, and a base station. Anchors are simply responded to TWR messages from tags, a tag initiates TWR messages to get range measurements between anchors and itself, and a base station collect range information from tags to resolve tag positions assuming that anchor positions are already known. On the other hands, TWR only could not guarantee under meter positioning accuracy on severe indoor environment. To improve the positioning accuracy, DR (Dead Reckoning) sensor measurement should be utilized together. In the robot platform, DR navigation could be performed by using wheel sensor and the heading sensor such as gyroscope. To integrate WPAN and DR system, error model should be chosen. The heading error and the scale factor error of wheel sensor-based navigation should be considered. In this paper, WPAN and DR integration scheme is introduced. To verify this system, the system performance is analyzed.

Keywords: WPAN, DR, TWR