期刊
MEASUREMENT
卷 123, 期 -, 页码 1-7出版社
ELSEVIER SCI LTD
DOI: 10.1016/j.measurement.2018.03.043
关键词
Indoor human localization; Inertial navigation system (INS); Ultra wide band (UWB); Loosely-coupled model; Unbiased finite impulse response (UFIR) filter
资金
- Shandong Provincial Natural Science Foundation, China [ZR2017QF007]
- China Postdoctoral Science Foundation [2017M622204]
- National Natural Science Foundation of China [61773242, 61233014]
- National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning [NRF-2017R1A1A1A05001325]
For human navigation, the ultra wide band (UWB)-based positioning technologies require extra infrastructure, while the inertial navigation system (INS)-based ones produce drift errors on a long time-scale. To overcome these shortcomings, we propose a novel INS/UWB-integrated system, in which the difference between the INS-measured position and UWB-measured position is corrected using a robust unbiased finite impulse response (UFIR) filter in a fusion center. To estimate optimally the averaging horizon for the UFIR filter in real time, the UFIR filter bank (UFFB) algorithm is designed employing the Mahalanobis distance between the estimated measurement and the actual measurement. It is shown experimentally that the UFFB-based INS/UWB-integrated human tracking system is able to provide real-time estimation with an accuracy consistent to that of the UFIR filter, which relies on a constant optimal horizon.
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