Adaptive robust INS/UWB-integrated human tracking using UFIR filter bank

Yuan Xu, Choon Ki Ahn, Yuriy S. Shmaliy, Xiyuan Chen, Yueyang Li

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)1-7
Number of pages7
JournalMeasurement: Journal of the International Measurement Confederation
Volume123
DOIs
Publication statusPublished - 2018 Jul 1

Fingerprint

Inertial Navigation System
inertial navigation
FIR filters
Inertial navigation systems
Filter Banks
Filter banks
Impulse Response
bank
broadband
Filter
horizon
Horizon
Optimal Constants
Mahalanobis Distance
Tracking System
Integrated System
navigation
positioning
Positioning
integrated system

Keywords

  • Indoor human localization
  • Inertial navigation system (INS)
  • Loosely-coupled model
  • Ultra wide band (UWB)
  • Unbiased finite impulse response (UFIR) filter

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering

Cite this

Adaptive robust INS/UWB-integrated human tracking using UFIR filter bank. / Xu, Yuan; Ahn, Choon Ki; Shmaliy, Yuriy S.; Chen, Xiyuan; Li, Yueyang.

In: Measurement: Journal of the International Measurement Confederation, Vol. 123, 01.07.2018, p. 1-7.

Research output: Contribution to journalArticle

@article{57a28c82221345c48531b9f518ac307a,
title = "Adaptive robust INS/UWB-integrated human tracking using UFIR filter bank",
abstract = "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.",
keywords = "Indoor human localization, Inertial navigation system (INS), Loosely-coupled model, Ultra wide band (UWB), Unbiased finite impulse response (UFIR) filter",
author = "Yuan Xu and Ahn, {Choon Ki} and Shmaliy, {Yuriy S.} and Xiyuan Chen and Yueyang Li",
year = "2018",
month = "7",
day = "1",
doi = "10.1016/j.measurement.2018.03.043",
language = "English",
volume = "123",
pages = "1--7",
journal = "Measurement",
issn = "1536-6367",
publisher = "Elsevier",

}

TY - JOUR

T1 - Adaptive robust INS/UWB-integrated human tracking using UFIR filter bank

AU - Xu, Yuan

AU - Ahn, Choon Ki

AU - Shmaliy, Yuriy S.

AU - Chen, Xiyuan

AU - Li, Yueyang

PY - 2018/7/1

Y1 - 2018/7/1

N2 - 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.

AB - 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.

KW - Indoor human localization

KW - Inertial navigation system (INS)

KW - Loosely-coupled model

KW - Ultra wide band (UWB)

KW - Unbiased finite impulse response (UFIR) filter

UR - http://www.scopus.com/inward/record.url?scp=85044479870&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85044479870&partnerID=8YFLogxK

U2 - 10.1016/j.measurement.2018.03.043

DO - 10.1016/j.measurement.2018.03.043

M3 - Article

VL - 123

SP - 1

EP - 7

JO - Measurement

JF - Measurement

SN - 1536-6367

ER -