Research Article
Distributed Quaternion Kalman Filter for Human Tracking Using IMU and UWB Measurement
@INPROCEEDINGS{10.1007/978-3-031-18123-8_52, author={Jing Cao and Yunguang Wang and Wanjie Ren and Mingran Li and Shuhui Bi}, title={Distributed Quaternion Kalman Filter for Human Tracking Using IMU and UWB Measurement}, proceedings={Multimedia Technology and Enhanced Learning. 4th EAI International Conference, ICMTEL 2022, Virtual Event, April 15-16, 2022, Proceedings}, proceedings_a={ICMTEL}, year={2022}, month={10}, keywords={Quaternion Inertial measurement unit Ultra wide band Indoor human localization}, doi={10.1007/978-3-031-18123-8_52} }- Jing Cao
Yunguang Wang
Wanjie Ren
Mingran Li
Shuhui Bi
Year: 2022
Distributed Quaternion Kalman Filter for Human Tracking Using IMU and UWB Measurement
ICMTEL
Springer
DOI: 10.1007/978-3-031-18123-8_52
Abstract
For improving the accuracy of the indoor navigation system, a Kalman filter (KF) will be proposed to filter the quaternion and to obtain the acceleration. Then, the human body is tracked based on the distributed quaternion extended Kalman filter (DQEKF) by combing with inertial navigation system (INS)/ultra-wide band (UWB) technology. In the proposed algorithm, the used local data filter is composed by four sub-filters, the position information is used as the state vector, which is more effective in dealing with the noise. In the following, the outputs of the local filters are the inputs to the main filters for fusion and provide the best estimate. Finally, experimental results show that the proposed scheme can reduce the positioning error effectively.
