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Synthesis and Performance Analysis of UKF for Processing Measurements of UWB ToF/AoA LNS with Long Baseline and IMU

Year by year the question of solving tasks of high-precision indoor navigation, such as collision avoidance and tracking of industrial vehicles, personnel tracking, worker safety and geofencing services, location-based alerts etc. is becoming more and more acute. The most expedient way to solve thes...

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Bibliographic Details
Main Authors: Petukhov, Nikita I., Orobchenko, Stepan V., Kochka, Kirill V., Evseev, Artyom D., Zamolodchikov, Vladimir N., Glukhov, Oleg V.
Format: Conference Proceeding
Language:English
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Summary:Year by year the question of solving tasks of high-precision indoor navigation, such as collision avoidance and tracking of industrial vehicles, personnel tracking, worker safety and geofencing services, location-based alerts etc. is becoming more and more acute. The most expedient way to solve these problems is the development of integrated systems based on UWB LNS and IMU. This choice is due to their complementary properties. The IMU measures with a high rate and low fluctuation component of error, at the same time they are characterized by non-stationary nature, and UWB LNS measures, in turn, with lower rate, higher fluctuation component of error, and stationary nature. In this paper algorithm of combined processing estimates of the PDR algorithm and measurements from ToF/AoA UWB LNS with a long baseline was synthesized. In conducted simulation experiments proposed algorithm for ToF/AoA UWB LNS with baseline length 4λ showed a gain of more than two times in DRMS of errors of estimates over the same metric for standard baseline (λ/2). In the carried out real experiment DRMS of errors of estimates of the proposed algorithm was 0.13 m.
ISSN:2473-8573
DOI:10.1109/APEIE59731.2023.10347590