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

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

研究成果: Conference contribution

16 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題IEEE/ION Position, Location and Navigation Symposium, PLANS 2010
頁面327-331
頁數5
DOIs
出版狀態Published - 2010 8月 3
事件IEEE/ION Position, Location and Navigation Symposium, PLANS 2010 - Indian Wells, CA, United States
持續時間: 2010 5月 42010 5月 6

出版系列

名字Record - IEEE PLANS, Position Location and Navigation Symposium

Other

OtherIEEE/ION Position, Location and Navigation Symposium, PLANS 2010
國家/地區United States
城市Indian Wells, CA
期間10-05-0410-05-06

All Science Journal Classification (ASJC) codes

  • 軟體
  • 電腦科學應用
  • 電氣與電子工程

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