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Tightly Coupled Integration of INS and UWB Using Fixed-Lag Extended UFIR Smoothing for Quadrotor Localization

Authors
Xu, YuanShmaliy, Yuriy S.Ahn, Choon KiShen, TaoZhuang, Yuan
Issue Date
1-2월-2021
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Keywords
Smoothing methods; Internet of Things; Robustness; Navigation; Zirconium; Mathematical model; Estimation; Finite impulse response smoothing; fixed-lag smoothing; quadrotor localization; tightly integrated navigation
Citation
IEEE INTERNET OF THINGS JOURNAL, v.8, no.3, pp.1716 - 1727
Indexed
SCIE
SCOPUS
Journal Title
IEEE INTERNET OF THINGS JOURNAL
Volume
8
Number
3
Start Page
1716
End Page
1727
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/49630
DOI
10.1109/JIOT.2020.3015351
ISSN
2327-4662
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.
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공과대학 (전기전자공학부)
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