Tightly Coupled Integration of INS and UWB Using Fixed-Lag Extended UFIR Smoothing for Quadrotor Localization
DC Field | Value | Language |
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dc.contributor.author | Xu, Yuan | - |
dc.contributor.author | Shmaliy, Yuriy S. | - |
dc.contributor.author | Ahn, Choon Ki | - |
dc.contributor.author | Shen, Tao | - |
dc.contributor.author | Zhuang, Yuan | - |
dc.date.accessioned | 2021-08-30T03:04:49Z | - |
dc.date.available | 2021-08-30T03:04:49Z | - |
dc.date.created | 2021-06-18 | - |
dc.date.issued | 2021-02-01 | - |
dc.identifier.issn | 2327-4662 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/49630 | - |
dc.description.abstract | Accurate indoor localization information of the quadrotor plays an important role in many Internet-of-Things applications. To improve the estimation accuracy and robustness, a fixed-lag extended finite impulse response smoother (FEFIRS) algorithm is proposed for fusing the inertial navigation system (INS) and ultra wideband (UWB) data tightly, which employs a distance between the UWB reference nodes and a blind node measured by the INS and UWB. The FEFIRS algorithm consists of an extended unbiased finite impulse response (EFIR) filter and a fixed-lag unbiased FIR (UFIR) smoother. The EFIR filter is employed to improve the robustness, and the fix-lag UFIR smoother is capable of improving the accuracy. Based on extensive test investigations employing real data, the proposed FEFIRS has higher accuracy and robustness than the Kalman-based solutions in the tightly integrated INS/UWB-based indoor quadrotor localization. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Tightly Coupled Integration of INS and UWB Using Fixed-Lag Extended UFIR Smoothing for Quadrotor Localization | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Ahn, Choon Ki | - |
dc.identifier.doi | 10.1109/JIOT.2020.3015351 | - |
dc.identifier.scopusid | 2-s2.0-85095121287 | - |
dc.identifier.wosid | 000612146000036 | - |
dc.identifier.bibliographicCitation | IEEE INTERNET OF THINGS JOURNAL, v.8, no.3, pp.1716 - 1727 | - |
dc.relation.isPartOf | IEEE INTERNET OF THINGS JOURNAL | - |
dc.citation.title | IEEE INTERNET OF THINGS JOURNAL | - |
dc.citation.volume | 8 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 1716 | - |
dc.citation.endPage | 1727 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Telecommunications | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Information Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Telecommunications | - |
dc.subject.keywordAuthor | Smoothing methods | - |
dc.subject.keywordAuthor | Internet of Things | - |
dc.subject.keywordAuthor | Robustness | - |
dc.subject.keywordAuthor | Navigation | - |
dc.subject.keywordAuthor | Zirconium | - |
dc.subject.keywordAuthor | Mathematical model | - |
dc.subject.keywordAuthor | Estimation | - |
dc.subject.keywordAuthor | Finite impulse response smoothing | - |
dc.subject.keywordAuthor | fixed-lag smoothing | - |
dc.subject.keywordAuthor | quadrotor localization | - |
dc.subject.keywordAuthor | tightly integrated navigation | - |
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