Improved Adaptive Iterated Extended Kalman Filter for GNSS/INS/UWB-Integrated Fixed-Point Positioning  

作　　者：Qingdong Wu Chenxi Li Tao Shen Yuan Xu 

机构地区：[1]Shandong Luqiao Group Co.,Ltd.,Jinan,250014,China [2]School of Electrical Engineering,University of Jinan,Jinan,250022,China [3]Shandong Beiming Medical Technology Co.,Ltd.,Jinan,250022,China

出　　处：《Computer Modeling in Engineering & Sciences》2023年第3期1761-1772,共12页工程与科学中的计算机建模（英文）

基　　金：supported in part by the Shandong Natural Science Foundation under Grant ZR2020MF067.

摘　　要：To provide stable and accurate position information of control points in a complex coastal environment,an adaptive iterated extended Kalman filter(AIEKF)for fixed-point positioning integrating global navigation satellite system,inertial navigation system,and ultra wide band(UWB)is proposed.In thismethod,the switched global navigation satellite system(GNSS)and UWB measurement are used as the measurement of the proposed filter.For the data fusion filter,the expectation-maximization(EM)based IEKF is used as the forward filter,then,the Rauch-Tung-Striebel smoother for IEKF filter’s result smoothing.Tests illustrate that the proposed AIEKF is able to provide an accurate estimation.

关 键 词：Rauch-tung-striebel ultra wide band global navigation satellite system adaptive iterated extended kalman filter 

分 类 号：TN967.2[电子电信—信号与信息处理]