Open AccessUWB/PDR integrated indoor positioning method based on robust adaptive square root cubature Kalman filter
Author(s) -
Zhiyu Li,
Lijie Zhang,
Guangliang Tian
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1976/1/012021
Subject(s) - kalman filter , square root , computer science , control theory (sociology) , ultra wideband , filter (signal processing) , algorithm , mathematics , telecommunications , artificial intelligence , computer vision , geometry , control (management)
Aiming at the problem that the ultra wide band (UWB) wireless signal is easy to be interfered, a robust adaptive square root cubature Kalman filter (RA-SRCKF) is proposed to be used in UWB/PDR integrated indoor positioning. RA-SRCKF is based on square root cubature Kalman filter (SRCKF) and its statistical characteristic of measurement noise is updated with the method of first estimating and then modifying. The experimental results show that the proposed RA-SRCKF can effectively improve the accuracy and stability of UWB/PDR integrated positioning.