System for fusing acoustic and inertial position determination

A positioning system, comprising:

• a transmitter, the transmitter comprising:
• an acoustic signal transmitter configured to transmit a modulated acoustic signal;
• a magnetic synchronization signal transmitter configured to transmit a modulated magnetic synchronization signal;
• and
• at least one inertial sensor assembly, having at least one sensor, configured to receive the modulated magnetic synchronization signal as an input, and configured to transmit a inertial signal;
• and
• a receiver, the receiver comprising:
• an acoustic signal receiver configured to receive the transmitted modulated acoustic signal;
• a magnetic synchronization signal receiver configured to receive the transmitted modulated magnetic synchronization signal;
• an inertial signal receiver configured to receive the transmitted inertial signal;
• and
• at least one processor configured to receive the modulated acoustic signal from the acoustic signal receiver, the modulated magnetic synchronization signal from the magnetic synchronization signal receiver and the inertial signal from the inertial signal receiver on a same time domain, and configured to determine a position of the transmitter based on the received modulated synchronization signal, a determined time delay of the received modulated acoustic signal and the received inertial signal.