Cargando…

A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning

The inertial measurement unit and ultra-wide band signal (IMU-UWB) combined indoor positioning system has a nonlinear state equation and a linear measurement equation. In order to improve the computational efficiency and the localization performance in terms of the estimation accuracy, the federated...

Descripción completa

Detalles Bibliográficos
Autores principales: He, Chengyang, Tang, Chao, Yu, Chengpu
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7349536/
https://www.ncbi.nlm.nih.gov/pubmed/32575892
http://dx.doi.org/10.3390/s20123514
_version_ 1783557077460844544
author He, Chengyang
Tang, Chao
Yu, Chengpu
author_facet He, Chengyang
Tang, Chao
Yu, Chengpu
author_sort He, Chengyang
collection PubMed
description The inertial measurement unit and ultra-wide band signal (IMU-UWB) combined indoor positioning system has a nonlinear state equation and a linear measurement equation. In order to improve the computational efficiency and the localization performance in terms of the estimation accuracy, the federated derivative cubature Kalman filtering (FDCKF) method is proposed by combining the traditional Kalman filtering and the cubature Kalman filtering. By implementing the proposed FDCKF method, the observations of the UWB and the IMU can be effectively fused; particularly, the IMU can be continuously calibrated by UWB so that it does not generate cumulative errors. Finally, the effectiveness of the proposed algorithm is demonstrated through numerical simulations, in which FDCKF was compared with the federated cubature Kalman filter (FCKF) and the federated unscented Kalman filter (FUKF), respectively.
format Online
Article
Text
id pubmed-7349536
institution National Center for Biotechnology Information
language English
publishDate 2020
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-73495362020-07-14 A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning He, Chengyang Tang, Chao Yu, Chengpu Sensors (Basel) Article The inertial measurement unit and ultra-wide band signal (IMU-UWB) combined indoor positioning system has a nonlinear state equation and a linear measurement equation. In order to improve the computational efficiency and the localization performance in terms of the estimation accuracy, the federated derivative cubature Kalman filtering (FDCKF) method is proposed by combining the traditional Kalman filtering and the cubature Kalman filtering. By implementing the proposed FDCKF method, the observations of the UWB and the IMU can be effectively fused; particularly, the IMU can be continuously calibrated by UWB so that it does not generate cumulative errors. Finally, the effectiveness of the proposed algorithm is demonstrated through numerical simulations, in which FDCKF was compared with the federated cubature Kalman filter (FCKF) and the federated unscented Kalman filter (FUKF), respectively. MDPI 2020-06-21 /pmc/articles/PMC7349536/ /pubmed/32575892 http://dx.doi.org/10.3390/s20123514 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
He, Chengyang
Tang, Chao
Yu, Chengpu
A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning
title A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning
title_full A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning
title_fullStr A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning
title_full_unstemmed A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning
title_short A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning
title_sort federated derivative cubature kalman filter for imu-uwb indoor positioning
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7349536/
https://www.ncbi.nlm.nih.gov/pubmed/32575892
http://dx.doi.org/10.3390/s20123514
work_keys_str_mv AT hechengyang afederatedderivativecubaturekalmanfilterforimuuwbindoorpositioning
AT tangchao afederatedderivativecubaturekalmanfilterforimuuwbindoorpositioning
AT yuchengpu afederatedderivativecubaturekalmanfilterforimuuwbindoorpositioning
AT hechengyang federatedderivativecubaturekalmanfilterforimuuwbindoorpositioning
AT tangchao federatedderivativecubaturekalmanfilterforimuuwbindoorpositioning
AT yuchengpu federatedderivativecubaturekalmanfilterforimuuwbindoorpositioning