UWB/PDR Tightly Coupled Navigation with Robust Extended Kalman Filter for NLOS Environments
Xin Li, Yan Wang, Kourosh Khoshelham
MOBILE INFORMATION SYSTEMS | HINDAWI LTD | Published : 2018
The fusion of ultra-wideband (UWB) and inertial measurement unit (IMU) is an effective solution to overcome the challenges of UWB in nonline-of-sight (NLOS) conditions and error accumulation of inertial positioning in indoor environments. However, existing systems are based on foot-mounted or body-worn IMUs, which limit the application of the system to specific practical scenarios. In this paper, we propose the fusion of UWB and pedestrian dead reckoning (PDR) using smartphone IMU, which has the potential to provide a universal solution to indoor positioning. The PDR algorithm is based on low-pass filtering of acceleration data and time thresholding to estimate the step length. According to ..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 the China Postdoctoral Science Foundation under grant number 2016M601909 and a grant from the China Scholarship Council.