Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR Filtering | Zendy

Yuan Xu | Zendy; Guohui Tian | Zendy; Xiyuan Chen | Zendy

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Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR Filtering

Author(s) -

Yuan Xu,

Guohui Tian,

Xiyuan Chen

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2878101

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

In order to obtain accurate position information, a federated extended finite impulse response (EFIR) filter which includes sub-filters and main filter is proposed for inertial navigation system (INS)/ultrawideband (UWB)-integrated human positioning in this paper. Here, the EFIR filter is employed as the sub-filter, which is able to fusion the UWB- and INS-measured distances between the reference nodes and the target human. The main filter is used to provide the optimal INS position error estimation by fusing the outputs of the sub-filters, which is able to correct the INS position. The test results show that the performance of the proposed method is better than the traditional federated extended Kalman filter in position accuracy.

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