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

3 Citations (Scopus)


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

Bibliographical note

Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 61803175, in part by the Mexican Consejo Nacional de Ciencia y Tecnolog a Project A1-S-10287 under Grant CB2017-2018, and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea Government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449.

Publisher Copyright:
© 2001-2012 IEEE.


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

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering


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