A Robust and Adaptive Complementary Kalman Filter Based on Mahalanobis Distance for Ultra Wideband/Inertial Measurement Unit Fusion Positioning
Xin Li, Yan Wang, Kourosh Khoshelham
SENSORS | MDPI | Published : 2018
Ultra wideband (UWB) has been a popular technology for indoor positioning due to its high accuracy. However, in many indoor application scenarios UWB measurements are influenced by outliers under non-line of sight (NLOS) conditions. To detect and eliminate outlying UWB observations, we propose a UWB/Inertial Measurement Unit (UWB/IMU) fusion filter based on a Complementary Kalman Filter to track the errors of position, velocity and direction. By using the least squares method, the positioning residual of the UWB observation is calculated, the robustness factor of the observation is determined, and an observation weight is dynamically set. When the robustness factor does not exceed a pre-defi..View full abstract
Awarded by National Natural Science Foundation of China
Awarded by China Postdoctoral Science Foundation
This work was supported by the National Natural Science Foundation of China under grant number 41674030 and China Postdoctoral Science Foundation under grant number 2016M601909 and the grand of China Scholarship Council.