Robust inertial navigation system/ultra wide band integrated indoor quadrotor localization employing adaptive interacting multiple model-unbiased finite impulse response/Kalman filter estimator

Abstract

A new adaptive interacting multiple model (IMM)-based unbiased finite impulse response (UFIR)/Kalman filter (KF) algorithm is proposed to provide accurate and robust mini quadrotor position information in indoor environments. The IMM-UFIR/KF algorithm is designed based on an integrated localization system, which combines recent data obtained from the inertial navigation system (INS) and ultra wide band (UWB) unit. In this scheme, adaptive UFIR filter and Kalman filters operate in parallel. The outputs of both filters are fused with probabilistic weights to correct the INS position, thereby reaching the best accuracy available from INS and UWB. It is shown experimentally that the output of the designed adaptive IMM-UFIR/KF-based localization system, which takes advantages of the KF accuracy and the UFIR filter robustness, ranges close to the most accurate estimator at each time instant.