  In this paper localization using UWB positioning system and an inertial unit
containing a single accelerometer is considered. The main part of the paper
describes a novel algorithm for person localization. The algorithm is based on
modified Extended Kalman Filter and utilizes TDOA (Time Difference of Arrival)
results obtained from UWB system and results of acceleration measurement
performed by the localized tag device. The proposed algorithm has been
experimentally investigated through simulation and experiments. The results are
included in the paper.
