A combined algorithm for the loosely fused ultra wide band(UWB)and inertial navigation system(INS)-based measurements is designed under the indoor human navigation conditions with missing data.The scheme proposed fuse...A combined algorithm for the loosely fused ultra wide band(UWB)and inertial navigation system(INS)-based measurements is designed under the indoor human navigation conditions with missing data.The scheme proposed fuses the INS-and UWB-derived positions via a data fusion filter.Since the UWB signal is prone to drift in indoor environments and its outage highly affects the integrated scheme reliability,we also consider the missing data problem in UWB measurements.To overcome this problem,the loosely-coupled INS/UWB-integrated scheme is augmented with a prediction option based on the predictive unbiased finite impulse response(UFIR)fusion filter.We show experimentally that,the standard UFIR fusion filter has higher robustness than the Kalman filter.It is also shown that the predictive UFIR fusion filter is able to produce an acceptable navigation accuracy under temporary missing UWB-data.展开更多
基金supported in part by the National Natural Science Foundation of China(61803175)in part by the Project of Shandong Provincial Natural Science Foundation(ZR2018LF010)
文摘A combined algorithm for the loosely fused ultra wide band(UWB)and inertial navigation system(INS)-based measurements is designed under the indoor human navigation conditions with missing data.The scheme proposed fuses the INS-and UWB-derived positions via a data fusion filter.Since the UWB signal is prone to drift in indoor environments and its outage highly affects the integrated scheme reliability,we also consider the missing data problem in UWB measurements.To overcome this problem,the loosely-coupled INS/UWB-integrated scheme is augmented with a prediction option based on the predictive unbiased finite impulse response(UFIR)fusion filter.We show experimentally that,the standard UFIR fusion filter has higher robustness than the Kalman filter.It is also shown that the predictive UFIR fusion filter is able to produce an acceptable navigation accuracy under temporary missing UWB-data.
