TY - JOUR
T1 - Adaptive robust INS/UWB-integrated human tracking using UFIR filter bank
AU - Xu, Yuan
AU - Ahn, Choon Ki
AU - Shmaliy, Yuriy S.
AU - Chen, Xiyuan
AU - Li, Yueyang
N1 - Funding Information:
This work was supported in part by the Shandong Provincial Natural Science Foundation, China , under Grant ZR2017QF007 , in part by the China Postdoctoral Science Foundation , under Grant 2017M622204 , in part by the National Natural Science Foundation of China under Grant 61773242 and Grant 61233014 , and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325 .
Publisher Copyright:
© 2018 Elsevier Ltd
PY - 2018/7
Y1 - 2018/7
N2 - For human navigation, the ultra wide band (UWB)-based positioning technologies require extra infrastructure, while the inertial navigation system (INS)-based ones produce drift errors on a long time-scale. To overcome these shortcomings, we propose a novel INS/UWB-integrated system, in which the difference between the INS-measured position and UWB-measured position is corrected using a robust unbiased finite impulse response (UFIR) filter in a fusion center. To estimate optimally the averaging horizon for the UFIR filter in real time, the UFIR filter bank (UFFB) algorithm is designed employing the Mahalanobis distance between the estimated measurement and the actual measurement. It is shown experimentally that the UFFB-based INS/UWB-integrated human tracking system is able to provide real-time estimation with an accuracy consistent to that of the UFIR filter, which relies on a constant optimal horizon.
AB - For human navigation, the ultra wide band (UWB)-based positioning technologies require extra infrastructure, while the inertial navigation system (INS)-based ones produce drift errors on a long time-scale. To overcome these shortcomings, we propose a novel INS/UWB-integrated system, in which the difference between the INS-measured position and UWB-measured position is corrected using a robust unbiased finite impulse response (UFIR) filter in a fusion center. To estimate optimally the averaging horizon for the UFIR filter in real time, the UFIR filter bank (UFFB) algorithm is designed employing the Mahalanobis distance between the estimated measurement and the actual measurement. It is shown experimentally that the UFFB-based INS/UWB-integrated human tracking system is able to provide real-time estimation with an accuracy consistent to that of the UFIR filter, which relies on a constant optimal horizon.
KW - Indoor human localization
KW - Inertial navigation system (INS)
KW - Loosely-coupled model
KW - Ultra wide band (UWB)
KW - Unbiased finite impulse response (UFIR) filter
UR - http://www.scopus.com/inward/record.url?scp=85044479870&partnerID=8YFLogxK
U2 - 10.1016/j.measurement.2018.03.043
DO - 10.1016/j.measurement.2018.03.043
M3 - Article
AN - SCOPUS:85044479870
SN - 0263-2241
VL - 123
SP - 1
EP - 7
JO - Measurement: Journal of the International Measurement Confederation
JF - Measurement: Journal of the International Measurement Confederation
ER -