Research Article
Human Tracking Using Distributed Dual-EKF Filter
@INPROCEEDINGS{10.1007/978-3-030-94182-6_31, author={Jing Cao and Jidong Feng and Wanjie Ren and Wanfeng Ma and Mingran Li and Yuan Xu}, title={Human Tracking Using Distributed Dual-EKF Filter}, proceedings={IoT and Big Data Technologies for Health Care. Second EAI International Conference, IoTCare 2021, Virtual Event, October 18-19, 2021, Proceedings, Part II}, proceedings_a={IOTCARE PART 2}, year={2022}, month={6}, keywords={Iterated dual-EKF Indoor human localization Ultra wide band Inertial measurement unit}, doi={10.1007/978-3-030-94182-6_31} }- Jing Cao
Jidong Feng
Wanjie Ren
Wanfeng Ma
Mingran Li
Yuan Xu
Year: 2022
Human Tracking Using Distributed Dual-EKF Filter
IOTCARE PART 2
Springer
DOI: 10.1007/978-3-030-94182-6_31
Abstract
Considering the accuracy of the indoor navigation system, an inertial navigation system (INS)/ultra wide band (UWB) technology integrated human tracking using distributed dual-EKF filter will be proposed. In this algorithm, the local data filter we use is composed of four dual-EKF filters to deal with noise more effectively. At the same time, we also take into account the uncertainty of system parameters. It employs the system parameters as the state vector. In the next step, the output of the local filter is input to the main filter for fusion and the best estimate is provided. The experimental results show that this scheme can effectively reduce the positioning error.
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