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《Transactions of Beijing Institute of Technology》 2019-08
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Tightly-Coupled UWB/AHRS Integrated Navigation Based on Improved Strong Tracking Filter

ZHENG Shu-hua;LU Dong-yuan;WANG Xiang-zhou;LIU Peng;School of Automation, Beijing Institute of Technology;  
For the positioning problem of vehicle in the occluded environment, a tightly coupled positioning method was proposed based on improved strong tracking filter for ultra wideband(UWB) and attitude and heading reference system(AHRS). In the method, the threshold was used to identify the UWB ranging anomaly value and eliminate its influence. A strong tracking filter(STF) algorithm was applied to the data fusion of the tightly coupled system, and the algorithm was improved by combining the positioning model to improve the stability of the algorithm and the estimation accuracy of the observed noise. The simulation and test results show that, the proposed method can provide accurate positioning information of vehicles in complex conditions. Compared with the single positioning of UWB and the use of several nonlinear filtering algorithms, the system has stronger robustness, higher positioning accuracy, and has strong practicality.
【Fund】: 国家科技支撑计划资助项目(2014BAF08B06)
【CateGory Index】: TN713;U463.6
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【Citations】
Chinese Journal Full-text Database 1 Hits
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【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 ZHANG Xiao-chun;MA Xin-fei;LIU Zhi-hong;DU Guo-hong;YANG Yao;College of Electrical Engineering,Chengdu Information Engineering University;Chongqing Institute of Photoelectric Technology;;A Target Tracking Algorithm based on Improved Cubature Kalman Filters[J];成都信息工程学院学报;2015-06
2 ZHANG Heng;GAO Min;XU Chao;Ordnance Engineering College,Missile Engineering Department;;Maneuvering Target Tracking Algorithm Based on Improved Strong Tracking Cubature Kalman Filters[J];现代防御技术;2015-06
3 FU Hui-min;XIAO Qiang;LOU Tai-shan;XIAO Meng-li;Research Center of Small Sample Technology,Beijing University of Aeronautics and Astronautics;;Nonlinear and non-Guassian rank filter method[J];航空动力学报;2015-10
4 LI Min;WANG Song-yan;ZHANG Ying-chun;LI Hua-yi;College of Astronautics,Harbin Institute of Technology;Aerospace Dongfanghong Development Ltd;;Satellite autonomous navigation filtering algorithm based on improved strong tracking square-root UKF[J];系统工程与电子技术;2015-08
5 SONG Hailiang;FU Yongqing;LIU Xue;College of Information and Communication Engineering,Harbin Engineering University;No 91868,Army;Section 94,No 91550,Army;;Adaptive fading central difference particle filter algorithm for single observer passive location[J];应用基础与工程科学学报;2015-04
6 RU Guobao;FENG Peng;DENG Yong;School of Electronic Information,Wuhan University;The 722Research Institute,China Ship Building Industry Corporation;;Adaptive filtering algorithm with switching state for GPS/INS[J];武汉大学学报(工学版);2015-04
7 Zheng Junhui;Zhang Guoping;College of Computer Science and Technology,Pingdingshan University;Software Institute of Pingdingshan University,Pingdingshan University;;Strong Tracking Filter Based on Correlate Noise Applying to Aircraft Attitude Determination System[J];微型电脑应用;2015-07
8 DONG Ning;XU Yu-jiao;LIU Xiang-dong;School of Automation,Beijing Institute of Technology;;An IMM-UKF with Adaptive Factor for GPS / BD-2 Satellite Navigation System[J];宇航学报;2015-06
9 HUANG Huang;LIN Hao-shen;HE Bing;The Second Artillery Engineering University;;Application of Adaptive Cubature Kalman Filter in Spatial Maneuvering Target Tracking[J];电光与控制;2015-06
10 ZHOU De-xin;LI Hong-xiao;CUI Hai-qing;Aeronautical Automation College,Civil Aviation University of China;;Simulation of Improved and High- Precision Integrated Navigation Filter Algorithm[J];计算机仿真;2015-04
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