Robustly Adaptive EKF PDR/UWB Integrated Navigation Based on Additional Heading Constraint
At present, GNSS (Global Navigation Satellite System) positioning technology is widely used for outdoor positioning services because of its high-precision positioning characteristics. However, in indoor environments, effective position information cannot be provided, because of the signals being obs...
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doaj-807eda656804456cb0e67805dee4d4312021-07-15T15:45:19ZengMDPI AGSensors1424-82202021-06-01214390439010.3390/s21134390Robustly Adaptive EKF PDR/UWB Integrated Navigation Based on Additional Heading ConstraintDebao Yuan0Jian Zhang1Jian Wang2Ximin Cui3Fei Liu4Yalei Zhang5School of Geoscience and Surveying Engineering, China University of Mining and Technology-Beijing (CUMTB), Beijing 100083, ChinaSchool of Geoscience and Surveying Engineering, China University of Mining and Technology-Beijing (CUMTB), Beijing 100083, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaSchool of Geoscience and Surveying Engineering, China University of Mining and Technology-Beijing (CUMTB), Beijing 100083, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaAt present, GNSS (Global Navigation Satellite System) positioning technology is widely used for outdoor positioning services because of its high-precision positioning characteristics. However, in indoor environments, effective position information cannot be provided, because of the signals being obscured. In order to improve the accuracy and continuity of indoor positioning systems, in this paper, we propose a PDR/UWB (Pedestrian Dead Reckoning and Ultra Wide Band) integrated navigation algorithm based on an adaptively robust EKF (Extended Kalman Filter) to address the problem of error accumulation in the PDR algorithm and gross errors in the location results of the UWB in non-line-of-sight scenarios. First, the basic principles of UWB and PDR location algorithms are given. Then, we propose a loose combination of the PDR and UWB algorithms by using the adaptively robust EKF. By using the robust factor to adjust the weight of the observation value to resist the influence of the gross error, and by adjusting the variance of the system adaptively according to the positioning scene, the algorithm can improve the robustness and heading factor of the PDR algorithm, which is constrained by indoor maps. Finally, the effectiveness of the algorithm is verified by the measured data. The experimental results showed that the algorithm can not only reduce the accumulation of PDR errors, but can also resist the influence of gross location errors under non-line-of-sight UWB scenarios.https://www.mdpi.com/1424-8220/21/13/4390indoor positioningPDR/UWBadaptively robust EKFloose combinationheading constraints |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Debao Yuan Jian Zhang Jian Wang Ximin Cui Fei Liu Yalei Zhang |
spellingShingle |
Debao Yuan Jian Zhang Jian Wang Ximin Cui Fei Liu Yalei Zhang Robustly Adaptive EKF PDR/UWB Integrated Navigation Based on Additional Heading Constraint Sensors indoor positioning PDR/UWB adaptively robust EKF loose combination heading constraints |
author_facet |
Debao Yuan Jian Zhang Jian Wang Ximin Cui Fei Liu Yalei Zhang |
author_sort |
Debao Yuan |
title |
Robustly Adaptive EKF PDR/UWB Integrated Navigation Based on Additional Heading Constraint |
title_short |
Robustly Adaptive EKF PDR/UWB Integrated Navigation Based on Additional Heading Constraint |
title_full |
Robustly Adaptive EKF PDR/UWB Integrated Navigation Based on Additional Heading Constraint |
title_fullStr |
Robustly Adaptive EKF PDR/UWB Integrated Navigation Based on Additional Heading Constraint |
title_full_unstemmed |
Robustly Adaptive EKF PDR/UWB Integrated Navigation Based on Additional Heading Constraint |
title_sort |
robustly adaptive ekf pdr/uwb integrated navigation based on additional heading constraint |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2021-06-01 |
description |
At present, GNSS (Global Navigation Satellite System) positioning technology is widely used for outdoor positioning services because of its high-precision positioning characteristics. However, in indoor environments, effective position information cannot be provided, because of the signals being obscured. In order to improve the accuracy and continuity of indoor positioning systems, in this paper, we propose a PDR/UWB (Pedestrian Dead Reckoning and Ultra Wide Band) integrated navigation algorithm based on an adaptively robust EKF (Extended Kalman Filter) to address the problem of error accumulation in the PDR algorithm and gross errors in the location results of the UWB in non-line-of-sight scenarios. First, the basic principles of UWB and PDR location algorithms are given. Then, we propose a loose combination of the PDR and UWB algorithms by using the adaptively robust EKF. By using the robust factor to adjust the weight of the observation value to resist the influence of the gross error, and by adjusting the variance of the system adaptively according to the positioning scene, the algorithm can improve the robustness and heading factor of the PDR algorithm, which is constrained by indoor maps. Finally, the effectiveness of the algorithm is verified by the measured data. The experimental results showed that the algorithm can not only reduce the accumulation of PDR errors, but can also resist the influence of gross location errors under non-line-of-sight UWB scenarios. |
topic |
indoor positioning PDR/UWB adaptively robust EKF loose combination heading constraints |
url |
https://www.mdpi.com/1424-8220/21/13/4390 |
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1721298531778560000 |