Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

In order to reduce the estimated errors of the inertial navigation system (INS)/Wireless sensor network (WSN)-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS) utilizing inertial measuring units (IMUs) and an ultra...

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Bibliographic Details
Main Authors: Yuan Xu, Xiyuan Chen, Qinghua Li
Format: Article
Language:English
Published: MDPI AG 2013-11-01
Series:Sensors
Subjects:
inertial navigation systems (INS)
integrated navigation
iterated extended Kalman filter (IEKF)
extended Rauch-Tung-Striebel smoother (ERTSS)
average filtering
Online Access:http://www.mdpi.com/1424-8220/13/12/15937

Internet

http://www.mdpi.com/1424-8220/13/12/15937

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