TY - JOUR
T1 - Robust and accurate UWB-based indoor robot localisation using integrated EKF/EFIR filtering
AU - Xu, Yuan
AU - Shmaliy, Yuriy S.
AU - Ahn, Choon Ki
AU - Tian, Guohui
AU - Chen, Xiyuan
N1 - Funding Information:
This work was supported in part by the National Natural Science Foundation of China, under grant no. 61773239, in part by the China Postdoctoral Science Foundation, under grant no. 2017M622204
Publisher Copyright:
© The Institution of Engineering and Technology 2018.
PY - 2018/7/1
Y1 - 2018/7/1
N2 - A novel ultra wideband (UWB)-based scheme is proposed to provide robust and accurate robot localisation in indoor environments. An extended Kalman filter (EKF), which is suboptimal, is combined in the main estimator design with an extended unbiased finite impulse response (EFIR) filter, which has better robustness. In the integrated EKF/EFIR algorithm, the EFIR filter and the EKF operate in parallel and the final estimate is obtained by fusing the outputs of both filters using probabilistic weights. Accordingly, the EKF/EFIR filter output ranges close to the most accurate one of the EKF and EFIR filters. Experimental testing has shown that the EKF/EFIR-based UWB-range robot localisation is more robust than the EKF- and EFIR-based ones in uncertain noise environments.
AB - A novel ultra wideband (UWB)-based scheme is proposed to provide robust and accurate robot localisation in indoor environments. An extended Kalman filter (EKF), which is suboptimal, is combined in the main estimator design with an extended unbiased finite impulse response (EFIR) filter, which has better robustness. In the integrated EKF/EFIR algorithm, the EFIR filter and the EKF operate in parallel and the final estimate is obtained by fusing the outputs of both filters using probabilistic weights. Accordingly, the EKF/EFIR filter output ranges close to the most accurate one of the EKF and EFIR filters. Experimental testing has shown that the EKF/EFIR-based UWB-range robot localisation is more robust than the EKF- and EFIR-based ones in uncertain noise environments.
UR - http://www.scopus.com/inward/record.url?scp=85048926638&partnerID=8YFLogxK
U2 - 10.1049/iet-rsn.2017.0461
DO - 10.1049/iet-rsn.2017.0461
M3 - Article
AN - SCOPUS:85048926638
SN - 1751-8784
VL - 12
SP - 750
EP - 756
JO - IET Radar, Sonar and Navigation
JF - IET Radar, Sonar and Navigation
IS - 7
ER -