UWB and IMU System Fusion for Indoor Navigation

被引：0

作者：

Wang Guosheng ^{[1
]}

Qin Shuqi ^{[1
]}

Lv Qiang ^{[1
]}

Wei Heng ^{[1
]}

Lin Huican ^{[1
]}

Liang Bing ^{[2
]}

机构：

[1] Army Acad Armored Forces, Weap & Control Dept, Beijing 100072, Peoples R China

[2] Jiangxi Univ Sci & Technol, Sch Informat Engn, Ganzhou 341000, Peoples R China

来源：

2018 37TH CHINESE CONTROL CONFERENCE (CCC) | 2018年

关键词：

UWB/IMU; EKF; UKF; Errors Complementary;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Ultra-wideband (UWB) localization is used for the indoor navigation, but the positioning accuracy will be affected by non-line-of-sight (NLOS) environment. And this error is difficult to accept for the indoor navigation. In this work, we mainly study the UWB Inertial Measurement Unit (IMU) fusion algorithms based on the extend Kalman filter (EKF) and unscented Kalman filter (UKF). And we put forward an errors complementary extend Kalman filter algorithm for indoor navigation on the NLOS environment. Then, we carry out the experiments with the omnidirectional robot. Through the experiment, we find that the new algorithm is also good for NLOS navigation. Compared with the other two algorithms, the new algorithm reduces the computational complexity.

引用

页码：4946 / 4950

页数：5

共 11 条

[1]

[Anonymous], 2004, SIGMA POINT KALMAN F

[2]

[Anonymous], 2006, RECURSIVE BAYESIAN I

[3]

Benini A., 2014, LOCALIZATION NAVIGAT

[4] Ultra-Wideband-Based Localization for Quadcopter Navigation [J].

Guo, Kexin ;

Qiu, Zhirong ;

Miao, Cunxiao ;

Zaini, Abdul Hanif ;

Chen, Chun-Lin ;

Meng, Wei ;

Xie, Lihua .

UNMANNED SYSTEMS, 2016, 4 (01) :23-34

[5]

Mueller MW, 2015, IEEE INT CONF ROBOT, P1730, DOI 10.1109/ICRA.2015.7139421

[6]

Noureldin A., 2013, Fundamentals of inertial navigation, satellite-based positioning and their integration, P125

[7]

Sahinoglu Zafer, 2008, ULTRAWIDEBAND POSITI

[8]

Sillero J.Borras., 2012, Sensor fusion methods for indoor navigation using uwb radio aided ins/dr

[9]

Tao Cai, 2016, RES OPTIMIZATION SDS

[10]

[徐爱功 Xu Aigong], 2017, [导航定位学报, Journal of Navigation and Positioning], V5, P14

← 1 2 →