An indoor positioning algorithm for mobile objects based on track smoothing

Author

Yueyue Zhang ; Rui Zhang ; Weiwei Miao ; Weiwei Xia ; Ziyan Jia ; Lianfeng Shen

Author_Institution

Nat. Mobile Commun. Res. Lab., Southeast Univ., Nanjing, China

fYear

2014

fDate

14-16 Nov. 2014

Firstpage

252

Lastpage

259

Abstract

In this paper, a new indoor positioning algorithm is proposed for mobile objects based on track smoothing. Considering the effects of indoor environment and the individual anchor nodes, the algorithm is realized in two filtering phases to modify the UWB range measurements and the trilateration localization results by the Unscented Kalman Filter, which reduces the influence of the additive non-Gaussian noise. Furthermore, the filtered positioning results of a mobile object are smoothed by a proposed adaptive smoothing algorithm, and the accuracy has been significantly improved with the positioning RMSE less than 0.8m and the maximum error is about 1m.

Keywords

Kalman filters; indoor navigation; indoor radio; mean square error methods; nonlinear filters; smoothing methods; ultra wideband communication; UWB range measurements; adaptive smoothing algorithm; additive non-Gaussian noise; filtering phases; individual anchor nodes; indoor environment; indoor positioning algorithm; mobile objects; positioning RMSE; track smoothing; trilateration localization results; unscented Kalman filter; Covariance matrices; Kalman filters; Mobile nodes; Noise; Smoothing methods; Unscented Kalman Filter; adaptive smoothing alaorithm; indoor positioning; trilateration localization;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Infocomm Technology (ICAIT), 2014 IEEE 7th International Conference on

Conference_Location

Fuzhou

Print_ISBN

978-1-4799-5454-4

Type

conf

DOI

10.1109/ICAIT.2014.7019562

Filename

7019562