UWB/PDR integrated indoor positioning method based on robust adaptive square root cubature Kalman filter

Abstract

Aiming at the problem that the ultra wide band (UWB) wireless signal is easy to be interfered, a robust adaptive square root cubature Kalman filter (RA-SRCKF) is proposed to be used in UWB/PDR integrated indoor positioning. RA-SRCKF is based on square root cubature Kalman filter (SRCKF) and its statistical characteristic of measurement noise is updated with the method of first estimating and then modifying. The experimental results show that the proposed RA-SRCKF can effectively improve the accuracy and stability of UWB/PDR integrated positioning.