Tightly Coupled Integration of INS and UWB Using Fixed-Lag Extended UFIR Smoothing for Quadrotor Localization

Yuan Xu, Yuriy S. Shmaliy, Choon Ki Ahn, Tao Shen, Yuan Zhuang

Research output: Contribution to journalArticlepeer-review

44 Citations (Scopus)


Accurate indoor localization information of the quadrotor plays an important role in many Internet-of-Things applications. To improve the estimation accuracy and robustness, a fixed-lag extended finite impulse response smoother (FEFIRS) algorithm is proposed for fusing the inertial navigation system (INS) and ultra wideband (UWB) data tightly, which employs a distance between the UWB reference nodes and a blind node measured by the INS and UWB. The FEFIRS algorithm consists of an extended unbiased finite impulse response (EFIR) filter and a fixed-lag unbiased FIR (UFIR) smoother. The EFIR filter is employed to improve the robustness, and the fix-lag UFIR smoother is capable of improving the accuracy. Based on extensive test investigations employing real data, the proposed FEFIRS has higher accuracy and robustness than the Kalman-based solutions in the tightly integrated INS/UWB-based indoor quadrotor localization.

Original languageEnglish
Article number9163129
Pages (from-to)1716-1727
Number of pages12
JournalIEEE Internet of Things Journal
Issue number3
Publication statusPublished - 2021 Feb 1

Bibliographical note

Funding Information:
Manuscript received May 10, 2020; revised July 5, 2020; accepted July 31, 2020. Date of publication August 10, 2020; date of current version January 22, 2021. The work of Yuan Xu was supported in part by the National Natural Science Foundation of China under Grant 61803175; and in part by the Shandong Key Research and Development Program under Grant 2019GGX104026 and Grant 2019JZZY021005. The work of Yuriy S. Shmaliy was supported in part by the Mexican CONACyT-SEP Project under Grant A1-S-10287 (call 2017–2018). The work of Choon Ki Ahn was supported 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. (Corresponding authors: Yuan Xu; Yuan Zhuang.) Yuan Xu and Tao Shen are with the School of Electrical Engineering, University of Jinan, Jinan 250022, China (e-mail: xy_abric@126.com; cse_st@ujn.edu.cn).

Publisher Copyright:
© 2014 IEEE.


  • Finite impulse response smoothing
  • fixed-lag smoothing
  • quadrotor localization
  • tightly integrated navigation

ASJC Scopus subject areas

  • Signal Processing
  • Information Systems
  • Hardware and Architecture
  • Computer Science Applications
  • Computer Networks and Communications


Dive into the research topics of 'Tightly Coupled Integration of INS and UWB Using Fixed-Lag Extended UFIR Smoothing for Quadrotor Localization'. Together they form a unique fingerprint.

Cite this