Distributed Kalman filter for UWB/INS integrated pedestrian localization under colored measurement noise

作     者：Yuan Xu Jing Cao Yuriy SShmaliy Yuan Zhuang 

作者机构：School of Electrical EngineeringUniversity of JinanJinanChina Department of Electronics EngineeringUniversidad de GuanajuatoSalamancaMexico State Key Laboratory of Information Engineering in SurveyingMapping and Remote SensingWuhan UniversityWuhanChina Shandong Beiming Medical Technology Co.LtdJinanChina. 

出 版 物：《Satellite Navigation》 (卫星导航（英文）)

年 卷 期：2021年第2卷第1期

页      面：305-314页

核心收录：

学科分类：080904[工学-电磁场与微波技术] 0810[工学-信息与通信工程] 080902[工学-电路与系统] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 080401[工学-精密仪器及机械] 081105[工学-导航、制导与控制] 0804[工学-仪器科学与技术] 080402[工学-测试计量技术及仪器] 081001[工学-通信与信息系统] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：NSFC Grant 61803175,Shandong Key R&D Program 2019JZZY021005 Mexican Consejo Nacional de Cienciay Tecnologıa Project A1-S-10287 Grant CB2017-2018 

主　　题：Distributed filtering Kalman filter Colored measurement noise Human localization 

摘      要：Colored Measurement Noise(CMN)has a great impact on the accuracy of human localization in indoor environments with Inertial Navigation System(INS)integrated with Ultra Wide Band(UWB).To mitigate its influence,a distributed Kalman Filter(dKF)is developed for Gauss-Markov CMN with switching Colouredness Factor Matrix(CFM).In the proposed scheme,a data fusion filter employs the difference between the INS-and UWB-based distance *** main filter produces a final optimal estimate of the human position by fusing the estimates from local *** effect of CMN is overcome by using measurement differencing of noisy *** tests show that the proposed dKF developed for CMN with CFM can reduce the localization error compared to the original dKF,and thus effectively improve the localization accuracy.