Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR Filtering
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 a...
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doaj-1488ffe2ff034370af0b8b42d392d0aa2021-03-29T21:28:06ZengIEEEIEEE Access2169-35362018-01-016644616446910.1109/ACCESS.2018.28781018513805Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR FilteringYuan Xu0https://orcid.org/0000-0002-5966-945XGuohui Tian1Xiyuan Chen2https://orcid.org/0000-0002-1770-8529School of Control Science and Engineering, Shandong University, Jinan, ChinaSchool of Control Science and Engineering, Shandong University, Jinan, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing, ChinaIn 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.https://ieeexplore.ieee.org/document/8513805/Indoor human positioninginertial navigation system (INS)ultra wide band (UWB)tightly-coupled modelfederated EFIR filtering |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yuan Xu Guohui Tian Xiyuan Chen |
spellingShingle |
Yuan Xu Guohui Tian Xiyuan Chen Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR Filtering IEEE Access Indoor human positioning inertial navigation system (INS) ultra wide band (UWB) tightly-coupled model federated EFIR filtering |
author_facet |
Yuan Xu Guohui Tian Xiyuan Chen |
author_sort |
Yuan Xu |
title |
Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR Filtering |
title_short |
Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR Filtering |
title_full |
Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR Filtering |
title_fullStr |
Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR Filtering |
title_full_unstemmed |
Enhancing INS/UWB Integrated Position Estimation Using Federated EFIR Filtering |
title_sort |
enhancing ins/uwb integrated position estimation using federated efir filtering |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2018-01-01 |
description |
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. |
topic |
Indoor human positioning inertial navigation system (INS) ultra wide band (UWB) tightly-coupled model federated EFIR filtering |
url |
https://ieeexplore.ieee.org/document/8513805/ |
work_keys_str_mv |
AT yuanxu enhancinginsuwbintegratedpositionestimationusingfederatedefirfiltering AT guohuitian enhancinginsuwbintegratedpositionestimationusingfederatedefirfiltering AT xiyuanchen enhancinginsuwbintegratedpositionestimationusingfederatedefirfiltering |
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1724192836669145088 |