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Multimedia Technology and Enhanced Learning. 5th EAI International Conference, ICMTEL 2023, Leicester, UK, April 28-29, 2023, Proceedings, Part III

Research Article

LS-SVM Assisted Multi-rate INS UWB Integrated Indoor Quadrotor Localization Using Kalman Filter

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BibTeX Plain Text
  • @INPROCEEDINGS{10.1007/978-3-031-50577-5_2,
        author={Dong Wan and Yuan Xu and Chenxi Li and Yide Zhang},
        title={LS-SVM Assisted Multi-rate INS UWB Integrated Indoor Quadrotor Localization Using Kalman Filter},
        proceedings={Multimedia Technology and Enhanced Learning. 5th EAI International Conference, ICMTEL 2023, Leicester, UK, April 28-29, 2023, Proceedings, Part III},
        proceedings_a={ICMTEL PART 3},
        year={2024},
        month={2},
        keywords={INS/UWB least squares support vector machine extended Kalman filter},
        doi={10.1007/978-3-031-50577-5_2}
    }
    
  • Dong Wan
    Yuan Xu
    Chenxi Li
    Yide Zhang
    Year: 2024
    LS-SVM Assisted Multi-rate INS UWB Integrated Indoor Quadrotor Localization Using Kalman Filter
    ICMTEL PART 3
    Springer
    DOI: 10.1007/978-3-031-50577-5_2
Dong Wan1, Yuan Xu1,*, Chenxi Li1, Yide Zhang1
  • 1: School of Electrical Engineering, University of Jinan
*Contact email: xy_abric@126.com

Abstract

This paper focuses on the problem of positioning accuracy degradation caused by inconsistent sampling frequencies of INS/UWB navigation system. In order to achieve the same sampling frequency of INS and UWB, this paper proposes a data fusion algorithm combining extended Kalman filter (EKF), locally weighted linear regression (LWLR), least squares support vector machine (LS-SVM). First, during the UWB data sampling interval, the UWB data are fitted by LWLR, and the fitted UWB data and INS data are fused by EKF. Then, estimation error of EKF is optimized by LS-SVM. At last, the simulation results indiciate data fusion algorithm restrains divergence problem in the UWB sampling interval. And the positioning accuracy of indoor quadrotor INS/UWB navigation system has been increased through the algorithm.

Keywords
INS/UWB, least squares support vector machine, extended Kalman filter
Published
2024-02-21
Appears in
SpringerLink
http://dx.doi.org/10.1007/978-3-031-50577-5_2
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