An Approach to Robust INS/UWB Integrated Positioning for Autonomous Indoor Mobile Robots
The key to successful positioning of autonomous mobile robots in complicated indoor environments lies in the strong anti-interference of the positioning system and accurate measurements from sensors. Inertial navigation systems (INS) are widely used for indoor mobile robots because they are not susc...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-02-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/4/950 |
| _version_ | 1798040074675290112 |
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| author | Jianfeng Liu Jiexin Pu Lifan Sun Zishu He |
| author_facet | Jianfeng Liu Jiexin Pu Lifan Sun Zishu He |
| author_sort | Jianfeng Liu |
| collection | DOAJ |
| description | The key to successful positioning of autonomous mobile robots in complicated indoor environments lies in the strong anti-interference of the positioning system and accurate measurements from sensors. Inertial navigation systems (INS) are widely used for indoor mobile robots because they are not susceptible to external interferences and work properly, but the positioning errors may be accumulated over time. Thus ultra wideband (UWB) is usually adopted to compensate the accumulated errors due to its high ranging precision. Unfortunately, UWB is easily affected by the multipath effects and non-line-of-sight (NLOS) factor in complex indoor environments, which may degrade the positioning performance. To solve above problems, this paper proposes an effective system framework of INS/UWB integrated positioning for autonomous indoor mobile robots, in which our modeling approach is simple to implement and a Sage⁻Husa fuzzy adaptive filter (SHFAF) is proposed. Due to the favorable property (i.e., self-adaptive adjustment) of SHFAF, the difficult problem of time-varying noise in complex indoor environments is considered and solved explicitly. Moreover, outliers can be detected and corrected by the proposed sliding window estimation with fading coefficients. This facilitates the positioning performance improvement for indoor mobile robots. The benefits of what we propose are illustrated by not only simulations but more importantly experimental results. |
| first_indexed | 2024-04-11T22:02:29Z |
| format | Article |
| id | doaj.art-bbd75e53173c4d0d90db442d42439c39 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T22:02:29Z |
| publishDate | 2019-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-bbd75e53173c4d0d90db442d42439c392022-12-22T04:00:51ZengMDPI AGSensors1424-82202019-02-0119495010.3390/s19040950s19040950An Approach to Robust INS/UWB Integrated Positioning for Autonomous Indoor Mobile RobotsJianfeng Liu0Jiexin Pu1Lifan Sun2Zishu He3School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, ChinaSchool of Information Engineering, Henan University of Science and Technology, Luoyang 471023, ChinaSchool of Information Engineering, Henan University of Science and Technology, Luoyang 471023, ChinaSchool of Communication and Information Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaThe key to successful positioning of autonomous mobile robots in complicated indoor environments lies in the strong anti-interference of the positioning system and accurate measurements from sensors. Inertial navigation systems (INS) are widely used for indoor mobile robots because they are not susceptible to external interferences and work properly, but the positioning errors may be accumulated over time. Thus ultra wideband (UWB) is usually adopted to compensate the accumulated errors due to its high ranging precision. Unfortunately, UWB is easily affected by the multipath effects and non-line-of-sight (NLOS) factor in complex indoor environments, which may degrade the positioning performance. To solve above problems, this paper proposes an effective system framework of INS/UWB integrated positioning for autonomous indoor mobile robots, in which our modeling approach is simple to implement and a Sage⁻Husa fuzzy adaptive filter (SHFAF) is proposed. Due to the favorable property (i.e., self-adaptive adjustment) of SHFAF, the difficult problem of time-varying noise in complex indoor environments is considered and solved explicitly. Moreover, outliers can be detected and corrected by the proposed sliding window estimation with fading coefficients. This facilitates the positioning performance improvement for indoor mobile robots. The benefits of what we propose are illustrated by not only simulations but more importantly experimental results.https://www.mdpi.com/1424-8220/19/4/950indoor mobile robotsINS/UWB integrated positioningSage–Husa fuzzy adaptive filterinnovation contribution weightoutliers detection and correction |
| spellingShingle | Jianfeng Liu Jiexin Pu Lifan Sun Zishu He An Approach to Robust INS/UWB Integrated Positioning for Autonomous Indoor Mobile Robots Sensors indoor mobile robots INS/UWB integrated positioning Sage–Husa fuzzy adaptive filter innovation contribution weight outliers detection and correction |
| title | An Approach to Robust INS/UWB Integrated Positioning for Autonomous Indoor Mobile Robots |
| title_full | An Approach to Robust INS/UWB Integrated Positioning for Autonomous Indoor Mobile Robots |
| title_fullStr | An Approach to Robust INS/UWB Integrated Positioning for Autonomous Indoor Mobile Robots |
| title_full_unstemmed | An Approach to Robust INS/UWB Integrated Positioning for Autonomous Indoor Mobile Robots |
| title_short | An Approach to Robust INS/UWB Integrated Positioning for Autonomous Indoor Mobile Robots |
| title_sort | approach to robust ins uwb integrated positioning for autonomous indoor mobile robots |
| topic | indoor mobile robots INS/UWB integrated positioning Sage–Husa fuzzy adaptive filter innovation contribution weight outliers detection and correction |
| url | https://www.mdpi.com/1424-8220/19/4/950 |
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