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An IMU/ODM/UWB Joint Localization System Based on Modified Cubature Kalman Filtering
In this article, a multisensor joint localization system is proposed based on modified cubature Kalman filtering, which aims to improve the accuracy of state estimation under a moderate computational burden in the presence of high process noise. Specifically, first, the covariance of process noise i...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8309941/ https://www.ncbi.nlm.nih.gov/pubmed/34300563 http://dx.doi.org/10.3390/s21144823 |
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author | Tang, Chao He, Chengyang Dou, Lihua |
author_facet | Tang, Chao He, Chengyang Dou, Lihua |
author_sort | Tang, Chao |
collection | PubMed |
description | In this article, a multisensor joint localization system is proposed based on modified cubature Kalman filtering, which aims to improve the accuracy of state estimation under a moderate computational burden in the presence of high process noise. Specifically, first, the covariance of process noise is matched based on adaptive filtering. The inertial measurement unit (IMU), odometer (ODM), and ultra-wideband (UWB) information acquired by the associated sensors is then employed to augment the system state and are fused to lower the influence of process noise. In the presented localization setting, all sensors (IMU/ODM/UWB) are set to work in parallel under the federated Kalman filter (FKF) framework, which can correct the cumulative error of the internal sensor and and can improve the computational efficiency. Two sets of numerical simulations were performed to show that the proposed method can obtain accurate state estimation with a slightly increased computational burden. |
format | Online Article Text |
id | pubmed-8309941 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-83099412021-07-25 An IMU/ODM/UWB Joint Localization System Based on Modified Cubature Kalman Filtering Tang, Chao He, Chengyang Dou, Lihua Sensors (Basel) Article In this article, a multisensor joint localization system is proposed based on modified cubature Kalman filtering, which aims to improve the accuracy of state estimation under a moderate computational burden in the presence of high process noise. Specifically, first, the covariance of process noise is matched based on adaptive filtering. The inertial measurement unit (IMU), odometer (ODM), and ultra-wideband (UWB) information acquired by the associated sensors is then employed to augment the system state and are fused to lower the influence of process noise. In the presented localization setting, all sensors (IMU/ODM/UWB) are set to work in parallel under the federated Kalman filter (FKF) framework, which can correct the cumulative error of the internal sensor and and can improve the computational efficiency. Two sets of numerical simulations were performed to show that the proposed method can obtain accurate state estimation with a slightly increased computational burden. MDPI 2021-07-15 /pmc/articles/PMC8309941/ /pubmed/34300563 http://dx.doi.org/10.3390/s21144823 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/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 (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Tang, Chao He, Chengyang Dou, Lihua An IMU/ODM/UWB Joint Localization System Based on Modified Cubature Kalman Filtering |
title | An IMU/ODM/UWB Joint Localization System Based on Modified Cubature Kalman Filtering |
title_full | An IMU/ODM/UWB Joint Localization System Based on Modified Cubature Kalman Filtering |
title_fullStr | An IMU/ODM/UWB Joint Localization System Based on Modified Cubature Kalman Filtering |
title_full_unstemmed | An IMU/ODM/UWB Joint Localization System Based on Modified Cubature Kalman Filtering |
title_short | An IMU/ODM/UWB Joint Localization System Based on Modified Cubature Kalman Filtering |
title_sort | imu/odm/uwb joint localization system based on modified cubature kalman filtering |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8309941/ https://www.ncbi.nlm.nih.gov/pubmed/34300563 http://dx.doi.org/10.3390/s21144823 |
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