research-article

Robust UWB Localization for Indoor Pedestrian Tracking Using EKF and Adaptive Power-Driven Parallel IMM

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Yang SongAuthors Info & Claims

EITCE '22: Proceedings of the 2022 6th International Conference on Electronic Information Technology and Computer Engineering

Pages 1332 - 1337

https://doi.org/10.1145/3573428.3573782

Published: 15 March 2023 Publication History

Abstract

Indoor pedestrian localization accuracy is unsatisfactory and unreliable in a complex environment where some non-line-of-sight (NLOS) channels may persist for a long term while some other line-of-sight (LOS) channels may exist for a short period. In this paper, we propose an adaptive power-driven parallel interacting multiple model (APIMM) algorithm, which is applied into an extended Kalman filter (EKF) based ultra-wideband (UWB) localization system for indoor pedestrian tracking. We refer to this localization system as APIMM-UWB-EKF system. In the proposed APIMM-UWB-EKF system, two parallel IMMs execute simultaneously and are connected by power-driven mechanism. For each IMM, both KF-based LOS and NLOS ranging models are constructed, the observation values of which is obtained by using UWB ranging data. Furthermore, the APIMM algorithm can adaptively adjust the Markov state transition probability matrix according to the received power. Finally, an EKF is utilized to estimate the position information based on the predicated location from the ranges processed by APIMM algorithm. The experiments demonstrate that the proposed system is more accurate and robust in complex NLOS indoor environments compared with the existing schemes.

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Cited By

Huang JGautam AChoi JSaripalli S(2024)Assessing Ultra-Wideband Technology for Improved Detection of Vulnerable Road Users in Urban Settings2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)10.1109/SSRR62954.2024.10770056(261-266)Online publication date: 12-Nov-2024
https://doi.org/10.1109/SSRR62954.2024.10770056
Zhang XMa Z(2023)Research on UAV Passive Localization Based on Greedy Strategy and Two-degree Error Analysis Model2023 IEEE 5th International Conference on Civil Aviation Safety and Information Technology (ICCASIT)10.1109/ICCASIT58768.2023.10351663(57-63)Online publication date: 11-Oct-2023
https://doi.org/10.1109/ICCASIT58768.2023.10351663

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EITCE '22: Proceedings of the 2022 6th International Conference on Electronic Information Technology and Computer Engineering

October 2022

1999 pages

ISBN:9781450397148

DOI:10.1145/3573428

Copyright © 2022 ACM.

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Published: 15 March 2023

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EITCE 2022

EITCE 2022: 2022 6th International Conference on Electronic Information Technology and Computer Engineering

October 21 - 23, 2022

Xiamen, China

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Cited By

Huang JGautam AChoi JSaripalli S(2024)Assessing Ultra-Wideband Technology for Improved Detection of Vulnerable Road Users in Urban Settings2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)10.1109/SSRR62954.2024.10770056(261-266)Online publication date: 12-Nov-2024
https://doi.org/10.1109/SSRR62954.2024.10770056
Zhang XMa Z(2023)Research on UAV Passive Localization Based on Greedy Strategy and Two-degree Error Analysis Model2023 IEEE 5th International Conference on Civil Aviation Safety and Information Technology (ICCASIT)10.1109/ICCASIT58768.2023.10351663(57-63)Online publication date: 11-Oct-2023
https://doi.org/10.1109/ICCASIT58768.2023.10351663

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