Robust tightly-coupled INS/UWB-integrated human localization using UFIR filtering

Abstract

In this paper, in order to provide the accurate human position, a tightly-coupled inertial navigation system (INS)/Ultra-wideband (UWB)-integrated human localization scheme is proposed, which employs the difference between the distances from reference nodes (RNs) to the blind node (BN) derived from INS and those values measured by the UWB. Based on the INS/UWB-integrated localization scheme, the unbiased finite impulse response (UFIR) filter is developed to instead of the Kalman filter (KF), which has higher robustness in real-world applications. In order to verify the performance of the proposed method, a real test has been done. The results have shown that the proposed UFIR filter-based tightly-coupled INS/UWB-integrated scheme is more robust in human localization than the KF-based tightly-coupled INS/UWB-integrated scheme.