Abstract
Indoor 3D positioning system requires precise information from all three dimensions in space, but measurements in the vertical direction are usually interfered by sensors properties, unexpected obstructions, and other factors. Thus, accuracy and robustness are not guaranteed. Aiming at this problem, we propose a novel sensor fusion algorithm to improve the height estimation for a UWB-barometer integrated positioning system by introducing a pseudo reference update mechanism and the extended Kalman filter (EKF). The proposed fusion approach effectively helps with sensing noise reduction and outlier restraint. The results from numerical experiment investigations demonstrate that the accuracy and robustness of the proposed method achieved better improvement in height determination.
Highlights
With mobile networks’ development, people’s demand for positioning and navigation has increased rapidly, especially in industrial applications with complex indoor facilities, such as intelligent power supply stations, urban underground trenches, and petrochemical plants [1]
To improve accuracy and robustness for indoor height estimation, we propose a barometer-integrated UWB height estimation method
According to extended Kalman filter (EKF) theory, the accuracy of h1 is higher than h0, the updated reference pressure Pref1 is closer to its true value
Summary
With mobile networks’ development, people’s demand for positioning and navigation has increased rapidly, especially in industrial applications with complex indoor facilities, such as intelligent power supply stations, urban underground trenches, and petrochemical plants [1]. Ultra-wideband (UWB) network, radio frequency identification technology, and laser scanner are popular methods that provide indoor position information [2,3,4,5]. The UWB has high accuracy, strong stability, good antimultipath effect, low transmitting power, and low radiation [6]. Such advantages make it capable of acquiring high precision three-dimensional position information in a spacious place. There are many occlusions in natural industrial environments, and the inside elevation is usually limited. These existing factors block the UWB signal in the vertical direction and significantly reduce height estimation accuracy [7]
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