Abstract
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 language | English |
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Article number | 9163129 |
Pages (from-to) | 1716-1727 |
Number of pages | 12 |
Journal | IEEE Internet of Things Journal |
Volume | 8 |
Issue number | 3 |
DOIs | |
Publication status | Published - 2021 Feb 1 |
Keywords
- 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