A sensor based indoor mobile localization and navigation using unscented Kalman filter

Chun Jung Sun, Hong Yi Kuo, Chin E. Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

Localization is the most important function to mobile vehicle in indoor environments. The precise positioning of the mobile object can provide higher mobility with more operation capability. The main challenge for indoor navigation is to solve higher accuracy heading and position in real time. In this paper, a low-cost MEMS hardware is designed and fabricated to focus on its accelerations and orientations by appropriate sensors. An auxiliary architecture of the Wireless Sensor Network (WSN) is added to improve the tracking accuracy in system operation. A sensor node, spacing around 10 to 20 meters, is implemented as a positioning and navigation network in the small area. The proposed system measures the radio signal strength from each node using the Unscented Kalman Filter (UKF). By this algorithm, the linearization process of a nonlinear model can be neglected. The evaluation of the Jacobians is not requested to get higher order accuracy. The more accurate estimation can reach, the better parameter tuning of the UKF is observed. The proposed algorithm incorporating with MEMS hardware has lead to some good indoor test results.

Original languageEnglish
Title of host publicationIEEE/ION Position, Location and Navigation Symposium, PLANS 2010
Pages327-331
Number of pages5
DOIs
Publication statusPublished - 2010 Aug 3
EventIEEE/ION Position, Location and Navigation Symposium, PLANS 2010 - Indian Wells, CA, United States
Duration: 2010 May 42010 May 6

Publication series

NameRecord - IEEE PLANS, Position Location and Navigation Symposium

Other

OtherIEEE/ION Position, Location and Navigation Symposium, PLANS 2010
CountryUnited States
CityIndian Wells, CA
Period10-05-0410-05-06

All Science Journal Classification (ASJC) codes

  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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