Predictive Adaptive Kalman Filter and Its Application to INS/UWB-integrated Human Localization with Missing UWB-based Measurements
文献类型：期刊论文
| 作者 | Yuan Xu2 ; Tao Shen1; Xi-Yuan Chen1; Li-Li Bu2; Ning Feng2
|
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2019 |
| 卷号 | 16期号:5页码:604-613 |
| 关键词 | Indoor human localization tightly-coupled model predictive filtering Kalman filter missing data. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-018-1157-4 |
| 英文摘要 | 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42361]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 2.School of Electrical Engineering, University of Jinan, Jinan 250022, 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. |
入库方式： OAI收割
来源：自动化研究所
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