TY  - EJOU
AU  - Wu, Qingdong 
AU  - Li, Chenxi 
AU  - Shen, Tao 
AU  - Xu, Yuan 

TI  - Improved Adaptive Iterated Extended Kalman Filter for GNSS/INS/UWB-Integrated Fixed-Point Positioning
T2  - Computer Modeling in Engineering \& Sciences

PY  - 2023
VL  - 134
IS  - 3
SN  - 1526-1506

AB  - 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 this method, 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.
KW  - Rauch-tung-striebel; ultra wide band; global navigation satellite system; adaptive iterated extended kalman filter

DO  - 10.32604/cmes.2022.020545