Abstract
A combined algorithm for the loosely fused ultra wide band (UWB)and inertial navigation system (INS)-based measurements is designed under the indoor human navigation conditions with missing data. The scheme proposed fuses the INS- and UWB-derived positions via a data fusion filter. Since the UWB signal is prone to drift in indoor environments and its outage highly affects the integrated scheme reliability, we also consider the missing data problem in UWB measurements. To overcome this problem, the loosely-coupled INS UWB-integrated scheme is augmented with a prediction option based on the predictive unbiased finite impulse response (UFIR)fusion filter. We show experimentally that, the standard UFIR fusion filter has higher robustness than the Kalman filter. It is also shown that the predictive UFIR fusion filter is able to produce an acceptable navigation accuracy under temporary missing UWB-data.
| Original language | English |
|---|---|
| Article number | 8753752 |
| Pages (from-to) | 952-960 |
| Number of pages | 9 |
| Journal | IEEE/CAA Journal of Automatica Sinica |
| Volume | 6 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2019 Jul 1 |
Fingerprint
Keywords
- Indoor human navigation
- INS/UWB model
- Prediction
- Unbiased fir filter
ASJC Scopus subject areas
- Control and Systems Engineering
- Information Systems
- Artificial Intelligence
Cite this
Indoor ins/UWB-based human localization with missing data utilizing predictive ufir filtering. / Xu, Yuan; Ahn, Choon Ki; Shmaliy, Yuriy S.; Chen, Xiyuan; Bu, Lili.
In: IEEE/CAA Journal of Automatica Sinica, Vol. 6, No. 4, 8753752, 01.07.2019, p. 952-960.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Indoor ins/UWB-based human localization with missing data utilizing predictive ufir filtering
AU - Xu, Yuan
AU - Ahn, Choon Ki
AU - Shmaliy, Yuriy S.
AU - Chen, Xiyuan
AU - Bu, Lili
PY - 2019/7/1
Y1 - 2019/7/1
N2 - A combined algorithm for the loosely fused ultra wide band (UWB)and inertial navigation system (INS)-based measurements is designed under the indoor human navigation conditions with missing data. The scheme proposed fuses the INS- and UWB-derived positions via a data fusion filter. Since the UWB signal is prone to drift in indoor environments and its outage highly affects the integrated scheme reliability, we also consider the missing data problem in UWB measurements. To overcome this problem, the loosely-coupled INS UWB-integrated scheme is augmented with a prediction option based on the predictive unbiased finite impulse response (UFIR)fusion filter. We show experimentally that, the standard UFIR fusion filter has higher robustness than the Kalman filter. It is also shown that the predictive UFIR fusion filter is able to produce an acceptable navigation accuracy under temporary missing UWB-data.
AB - A combined algorithm for the loosely fused ultra wide band (UWB)and inertial navigation system (INS)-based measurements is designed under the indoor human navigation conditions with missing data. The scheme proposed fuses the INS- and UWB-derived positions via a data fusion filter. Since the UWB signal is prone to drift in indoor environments and its outage highly affects the integrated scheme reliability, we also consider the missing data problem in UWB measurements. To overcome this problem, the loosely-coupled INS UWB-integrated scheme is augmented with a prediction option based on the predictive unbiased finite impulse response (UFIR)fusion filter. We show experimentally that, the standard UFIR fusion filter has higher robustness than the Kalman filter. It is also shown that the predictive UFIR fusion filter is able to produce an acceptable navigation accuracy under temporary missing UWB-data.
KW - Indoor human navigation
KW - INS/UWB model
KW - Prediction
KW - Unbiased fir filter
UR - http://www.scopus.com/inward/record.url?scp=85068745582&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85068745582&partnerID=8YFLogxK
U2 - 10.1109/JAS.2019.1911570
DO - 10.1109/JAS.2019.1911570
M3 - Article
VL - 6
SP - 952
EP - 960
JO - IEEE/CAA Journal of Automatica Sinica
JF - IEEE/CAA Journal of Automatica Sinica
SN - 2329-9266
IS - 4
M1 - 8753752
ER -