Tightly Coupled Integration of INS and UWB Using Fixed-Lag Extended UFIR Smoothing for Quadrotor Localization

Yuan Xu, Yuriy S. Shmaliy, Choon Ki Ahn, Tao Shen, Yuan Zhuang

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


Accurate indoor localization information of the quadrotor plays an important role in many Internet-of-Things applications. To improve the estimation accuracy and robustness, a fixed-lag extended finite impulse response smoother (FEFIRS) algorithm is proposed for fusing the inertial navigation system (INS) and ultra wideband (UWB) data tightly, which employs a distance between the UWB reference nodes and a blind node measured by the INS and UWB. The FEFIRS algorithm consists of an extended unbiased finite impulse response (EFIR) filter and a fixed-lag unbiased FIR (UFIR) smoother. The EFIR filter is employed to improve the robustness, and the fix-lag UFIR smoother is capable of improving the accuracy. Based on extensive test investigations employing real data, the proposed FEFIRS has higher accuracy and robustness than the Kalman-based solutions in the tightly integrated INS/UWB-based indoor quadrotor localization.

Original languageEnglish
Article number9163129
Pages (from-to)1716-1727
Number of pages12
JournalIEEE Internet of Things Journal
Issue number3
Publication statusPublished - 2021 Feb 1


  • Finite impulse response smoothing
  • fixed-lag smoothing
  • quadrotor localization
  • tightly integrated navigation

ASJC Scopus subject areas

  • Signal Processing
  • Information Systems
  • Hardware and Architecture
  • Computer Science Applications
  • Computer Networks and Communications


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