Predictive Adaptive Kalman Filter and Its Application to INS/UWB-integrated Human Localization with Missing UWB-based Measurements

doi:10.1007/s11633-018-1157-4

CASIA OpenIR > 学术期刊 > Machine Intelligence Research

	Predictive Adaptive Kalman Filter and Its Application to INS/UWB-integrated Human Localization with Missing UWB-based Measurements
	Yuan Xu1 ; Tao Shen 2; Xi-Yuan Chen 2; Li-Li Bu 1; Ning Feng 1
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2019
卷号	16 期号:5 页码:604-613
摘要	In order to improve the accuracy of the data fusion filter, a tightly-coupled ultra wide band (UWB)/inertial navigation system (INS)-integrated scheme for indoor human navigation will be investigated in this paper. In this scheme, the data fusion filter employs the difference between the INS-measured and UWB-measured distances as the observation. Moreover, the predictive adaptive Kalman filter (PAKF) for the tightly-coupled INS/UWB-integrated human tracking model with missing data of the UWB-measured distance will be designed, which considers the missing data of the UWB-based distance and employs the predictive UWB-measured distance. Real test results will be done to compare the performance of the Kalman filter (KF), adaptive Kalman filter (AKF), and the PAKF. The test results show that the performance of the AKF is better than the KF. Moreover, the proposed PAKF is able to maintain the performance of the filter when the UWB-based measurement is unavailable.
关键词	Indoor human localization tightly-coupled model predictive filtering Kalman filter missing data.
DOI	10.1007/s11633-018-1157-4
引用统计	被引频次：17[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42361
专题	学术期刊_Machine Intelligence Research
作者单位	1.School of Electrical Engineering, University of Jinan, Jinan 250022, China 2.School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
推荐引用方式 GB/T 7714	Yuan Xu,Tao Shen,Xi-Yuan Chen,et al. Predictive Adaptive Kalman Filter and Its Application to INS/UWB-integrated Human Localization with Missing UWB-based Measurements[J]. International Journal of Automation and Computing,2019,16(5):604-613.
APA	Yuan Xu,Tao Shen,Xi-Yuan Chen,Li-Li Bu,&Ning Feng.(2019).Predictive Adaptive Kalman Filter and Its Application to INS/UWB-integrated Human Localization with Missing UWB-based Measurements.International Journal of Automation and Computing,16(5),604-613.
MLA	Yuan Xu,et al."Predictive Adaptive Kalman Filter and Its Application to INS/UWB-integrated Human Localization with Missing UWB-based Measurements".International Journal of Automation and Computing 16.5(2019):604-613.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
IJAC-2018-05-152.pdf（4479KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载