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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doaj-3d755726df054b7484ffa00ac5a380b72020-11-24T20:48:16ZengMDPI AGSensors1424-82202013-11-011312159371595310.3390/s131215937s131215937Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel SmoothingYuan Xu0Xiyuan Chen1Qinghua Li2Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaIn 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 ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF) is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS) to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.http://www.mdpi.com/1424-8220/13/12/15937inertial navigation systems (INS)integrated navigationiterated extended Kalman filter (IEKF)extended Rauch-Tung-Striebel smoother (ERTSS)average filtering |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yuan Xu Xiyuan Chen Qinghua Li |
spellingShingle |
Yuan Xu Xiyuan Chen Qinghua Li Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing Sensors inertial navigation systems (INS) integrated navigation iterated extended Kalman filter (IEKF) extended Rauch-Tung-Striebel smoother (ERTSS) average filtering |
author_facet |
Yuan Xu Xiyuan Chen Qinghua Li |
author_sort |
Yuan Xu |
title |
Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing |
title_short |
Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing |
title_full |
Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing |
title_fullStr |
Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing |
title_full_unstemmed |
Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing |
title_sort |
autonomous integrated navigation for indoor robots utilizing on-line iterated extended rauch-tung-striebel smoothing |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2013-11-01 |
description |
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 ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF) is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS) to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes. |
topic |
inertial navigation systems (INS) integrated navigation iterated extended Kalman filter (IEKF) extended Rauch-Tung-Striebel smoother (ERTSS) average filtering |
url |
http://www.mdpi.com/1424-8220/13/12/15937 |
work_keys_str_mv |
AT yuanxu autonomousintegratednavigationforindoorrobotsutilizingonlineiteratedextendedrauchtungstriebelsmoothing AT xiyuanchen autonomousintegratednavigationforindoorrobotsutilizingonlineiteratedextendedrauchtungstriebelsmoothing AT qinghuali autonomousintegratednavigationforindoorrobotsutilizingonlineiteratedextendedrauchtungstriebelsmoothing |
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1716808391111737344 |