Schemes combining Ultra-wide bandwidth (UWB) ranging technology and Inertial Measurement Unit (IMU) have been proposed for high precision positioning and tracking. However, positioning accuracy can be significantly affected by the non-line-of-sight (NLOS) UWB ranging measurements and cumulative inertial sensing error. In this paper, we model the ranging measurement error and the step length as Gaussian Mixture Model (GMM), respectively. Then, we derived a Suboptimal Importance Density (SID) for particle filters, which could resolve the degeneracy of particles and sample impoverishment. Finally, experimental results illustrate the performance gain of the particle filters with the proposed SID.


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    Title :

    Indoor Positioning and Tracking Using Particle Filters with Suboptimal Importance Density


    Contributors:
    Zhang, Yueyue (author) / Zhu, Yaping (author) / Yan, Feng (author) / Shen, Lianfeng (author) / Song, Tiecheng (author)


    Publication date :

    2016-09-01


    Size :

    356018 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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