Name
Title | ||
|---|---|---|
Autonomous integrated navigation for indoor robots utilizing on-line iterated extended rauch-tung-striebel smoothing |
Abstract | ||
|---|---|---|
In order to reduce the estimated errors of the inertial navigation system (INS)/Wireless sensor network (WSN)-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS) utilizing inertial measuring units (IMUs) and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF) is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS) to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes. © 2013 by the authors; licensee MDPI, Basel, Switzerland. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.3390/s131215937 | SENSORS |
Keywords | Field | DocType |
average filtering,extended rauch-tung-striebel smoother (ertss),inertial navigation systems (ins),integrated navigation,iterated extended kalman filter (iekf) | Inertial navigation system,Data processing,Simulation,Filter (signal processing),Electronic engineering,Real-time computing,Smoothing,Engineering,Robot,Wireless sensor network,Mobile robot,Positioning system | Journal |
Volume | Issue | ISSN |
13 | 12 | 1424-8220 |
Citations | PageRank | References |
2 | 0.45 | 10 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yuan Xu | 1 | 2 | 0.45 |
| Xiyuan Chen | 2 | 43 | 17.33 |
| Qing-Hua Li | 3 | 1563 | 88.15 |