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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers >Online cubature Kalman filter Rauch-Tung-Striebel smoothing for indoor inertial navigation system/ultrawideband integrated pedestrian navigation
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Online cubature Kalman filter Rauch-Tung-Striebel smoothing for indoor inertial navigation system/ultrawideband integrated pedestrian navigation

机译：用于室内惯性导航系统/超宽带集成行人导航的在线库尔曼卡尔曼滤波器Rauch-Tung-Striebel平滑

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摘要

Accurate position information of the pedestrians is required in many applications such as healthcare, entertainment industries, and military field. In this work, an online Cubature Kalman filter Rauch-Tung-Striebel smoothing algorithm for people's location in indoor environment is proposed using inertial navigation system techniques with ultrawideband technology. In this algorithm, Cubature Kalman filter is employed to improve the filtering output accuracy; then, the Rauch-Tung-Striebel smoothing is used between the ultrawideband measurements updates; finally, the average value of the corrected inertial navigation system error estimation is output to compensate the inertial navigation system position error. Moreover, a real indoor test has been done for assessing the performance of the proposed model and algorithm. Test results show that the proposed model is able to reduce the sum of the absolute position error between the east direction and the north direction by about 32% compared with only the ultrawideband model, and the performance of the online Cubature Kalman filter Rauch-Tung-Striebel smoothing algorithm is slightly better than the off-line mode.
机译：在许多应用中，例如医疗保健，娱乐业和军事领域，都需要行人的准确位置信息。在这项工作中，提出了一种使用惯性导航系统技术和超宽带技术的在线Cubature卡尔曼滤波器Rauch-Tung-Striebel平滑算法，用于室内环境中的人员定位。该算法采用Cubature Kalman滤波器来提高滤波输出的精度。然后，在超宽带测量更新之间使用Rauch-Tung-Striebel平滑；最后，输出校正后的惯性导航系统误差估计的平均值以补偿惯性导航系统位置误差。此外，已经进行了真实的室内测试，以评估所提出的模型和算法的性能。测试结果表明，与仅超宽带模型相比，该模型能够将东向和北向之间的绝对位置误差之和降低约32％，并且在线Cubature Kalman滤波器Rauch-Tung- Striebel平滑算法比离线模式稍好。

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