Distributed Kalman filter for UWB/INS integrated pedestrian localization under colored measurement noise

Distributed Kalman filter for UWB/INS integrated pedestrian localization under colored measurement noise

Abstract Colored Measurement Noise (CMN) has a great impact on the accuracy of human localization in indoor environments with Inertial Navigation System (INS) integrated with Ultra Wide Band (UWB). To mitigate its influence, a distributed Kalman Filter (dKF) is developed for Gauss–Markov CMN with sw...

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Bibliographic Details
Main Authors: Yuan Xu, Jing Cao, Yuriy S. Shmaliy, Yuan Zhuang
Format: Article
Language:English
Published: SpringerOpen 2021-10-01
Series:Satellite Navigation
Subjects:
Distributed filtering
Kalman filter
Colored measurement noise
Human localization
Online Access:https://doi.org/10.1186/s43020-021-00053-z

Internet

https://doi.org/10.1186/s43020-021-00053-z

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