Blind Robust Multi-Horizon EFIR Filter for Tightly Integrating INS and UWB

Yuan Xu, Yuriy S. Shmaliy, Choon Ki Ahn, Xiyuan Chen, Hang Guo, Yuan Zhuang

Research output: Contribution to journalArticlepeer-review


In this paper, a novel model to localize a human accurately in indoor industrial environments by integrating the inertial navigation system (INS) technique with ultra wide band (UWB) technology is present. The distances between the target human and the reference node measured from INS and UWB are used by the fusion filter. To improve accuracy, the robust extended finite impulse response (EFIR) filtering algorithm is developed to operate on multi horizons (MHs), thereby providing blind suboptimal estimates. Experimental testing has shown that the real-time blind MH EFIR algorithm is almost as accurate as the EFIR filter, which requires a preliminarily determined optimal horizon.

Original languageEnglish
Pages (from-to)23037-23045
Number of pages9
JournalIEEE Sensors Journal
Issue number20
Publication statusPublished - 2021 Oct 15


  • extended FIR filter
  • Indoor localization scheme
  • multi-horizon
  • tightly integration

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering


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