Application of Adaptive Extended Kalman Smoothing on INSWSN Integration System for Mobile Robot Indoors
Joint Authors
Chen, Xiyuan
Xu, Yuan
Li, Qinghua
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-21
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
The inertial navigation systems (INS)/wireless sensor network (WSN) integration system for mobile robot is proposed for navigation information indoors accurately and continuously.
The Kalman filter (KF) is widely used for real-time applications with the aim of gaining optimal data fusion.
In order to improve the accuracy of the navigation information, this work proposed an adaptive extended Kalman smoothing (AEKS) which utilizes inertial measuring units (IMUs) and ultrasonic positioning system.
In this mode, the adaptive extended Kalman filter (AEKF) is used to improve the accuracy of forward Kalman filtering (FKF) and backward Kalman filtering (BKF), and then the AEKS and the average filter are used between two output timings for the online smoothing.
Several real indoor tests are done to assess the performance of the proposed method.
The results show that the proposed method can reduce the error compared with the INS-only, least squares (LS) solution, and AEKF.
American Psychological Association (APA)
Chen, Xiyuan& Xu, Yuan& Li, Qinghua. 2013. Application of Adaptive Extended Kalman Smoothing on INSWSN Integration System for Mobile Robot Indoors. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-1008493
Modern Language Association (MLA)
Chen, Xiyuan…[et al.]. Application of Adaptive Extended Kalman Smoothing on INSWSN Integration System for Mobile Robot Indoors. Mathematical Problems in Engineering No. 2013 (2013), pp.1-8.
https://search.emarefa.net/detail/BIM-1008493
American Medical Association (AMA)
Chen, Xiyuan& Xu, Yuan& Li, Qinghua. Application of Adaptive Extended Kalman Smoothing on INSWSN Integration System for Mobile Robot Indoors. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-1008493
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1008493