Journal article

Robust iterated extended Kalman filter algorithm for foot-mounted inertial measurement units/ultrawideband fusion positioning

Yan Wang, Xin Li, Kourosh Khoshelham, Pin Li

Journal of Applied Remote Sensing | Society of Photo-optical Instrumentation Engineers | Published : 2019

Abstract

As a fundamental prerequisite for a variety of location-based services, indoor location information has received increasing attention in recent years. Under the line-of-sight condition, the positioning accuracy of the indoor positioning technology based on ultrawideband (UWB) is acceptable for many applications, but under the non-line-of-sight condition, it degrades dramatically. The positioning accuracy can be significantly improved by the fusion of inertial measurement units and UWB sensors based on the extended Kalman filter (EKF) algorithm. However, when UWB measurements are affected by large non-Gaussian noise, the assumption of the EKF algorithm that observations are subject to Gaussia..

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Grants

Awarded by Fundamental Research Funds for the Central Universities


Funding Acknowledgements

This work was supported by the Fundamental Research Funds for the Central Universities under Grant No. 2017XKQY020.