Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot
Joint Authors
Chen, Xiyuan
Xu, Yuan
Li, Qinghua
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-02-13
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
As the core of the integrated navigation system, the data fusion algorithm should be designed seriously.
In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF) which used the noise statistics estimator in the iterated extended Kalman (IEKF), and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS)/wireless sensors networks (WSNs)-integrated navigation system.
Practical test has been done to evaluate the performance of the proposed method.
The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE) of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.
American Psychological Association (APA)
Xu, Yuan& Chen, Xiyuan& Li, Qinghua. 2014. Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-7.
https://search.emarefa.net/detail/BIM-1048432
Modern Language Association (MLA)
Xu, Yuan…[et al.]. Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot. The Scientific World Journal No. 2014 (2014), pp.1-7.
https://search.emarefa.net/detail/BIM-1048432
American Medical Association (AMA)
Xu, Yuan& Chen, Xiyuan& Li, Qinghua. Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-7.
https://search.emarefa.net/detail/BIM-1048432
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1048432