Literature Database Entry

bibi2026aoi-fusionnet

Tehmina Bibi, Anselm Köhler, Jan-Thomas Fischer and Falko Dressler, "AoI-FusionNet: Age-Aware Tightly Coupled Fusion of UWB-IMU under Sparse Ranging Conditions," IEEE Internet of Things Journal, 2026. (to appear)

Abstract

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 approach operates directly on heterogeneous sensor inputs, thereby enabling localization even under insufficient ranging availability. This framework integrates an age of information (AoI)-aware decay module to reduce the influence of stale UWB range measurements and a learned attention gate mechanism that adaptively balances trust between UWB and IMU modalities as a function of measurement availability and temporal freshness. To evaluate performance under limited training data and measurement variability, a diffusion-based residual augmentation strategy is applied during training, producing an augmented variant termed AoI-FusionNet-DGAN. Performance of the proposed model is assessed using offline post-processing of real-world measurement data from an alpine environment and benchmarked against geometric, model-based, learning-based, and tightly coupled UWB-IMU fusion baselines.The results demonstrate that AoI-FusionNet substantially reduces mean and tail localization errors under intermittent and degraded sensing conditions.

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Tehmina Bibi
Anselm Köhler
Jan-Thomas Fischer
Falko Dressler

BibTeX reference

@article{bibi2026aoi-fusionnet,
    author = {Bibi, Tehmina and K{\"{o}}hler, Anselm and Fischer, Jan-Thomas and Dressler, Falko},
    note = {to appear},
    title = {{AoI-FusionNet: Age-Aware Tightly Coupled Fusion of UWB-IMU under Sparse Ranging Conditions}},
    journal = {IEEE Internet of Things Journal},
    issn = {2327-4662},
    publisher = {IEEE},
    year = {2026},
   }
   
   

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Last modified: 2026-10-28