Abstract
In this paper, a novel distributed integrated 2D localization scheme for fusing the fusing the ultra wide band (UWB)- and inertial navigation system (INS)-derived ranges using least squares-support vector machines (LS-SVM)/federated extended Kalman filter (FEKF) integrated approach is presented. In the proposed scheme, the local filter is capable of fusing UWB- and INS-derived distances, and then, the main filter is employed to fuse the local data fusion filter’s outputs and compensate the INS position error. Moreover, for overcoming the outage of the UWB, the LS-SVM is used to assist the FEKF, which can compensate the missing UWB measurement. The test demonstrates that the proposed LS-SVM/FEKF can effectively improve the position accuracy compared with the traditional FEKF.
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