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Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
* Author to whom correspondence should be addressed.
Received: 24 September 2013; in revised form: 7 November 2013 / Accepted: 11 November 2013 / Published: 25 November 2013
Abstract: In order to reduce the estimated errors of the inertial navigation system (INS)/Wireless sensor network (WSN)-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS) utilizing inertial measuring units (IMUs) and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF) is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS) to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.
Keywords: inertial navigation systems (INS); integrated navigation; iterated extended Kalman filter (IEKF); extended Rauch-Tung-Striebel smoother (ERTSS); average filtering
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Cite This Article
MDPI and ACS Style
Xu, Y.; Chen, X.; Li, Q. Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing. Sensors 2013, 13, 15937-15953.
Xu Y, Chen X, Li Q. Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing. Sensors. 2013; 13(12):15937-15953.
Xu, Yuan; Chen, Xiyuan; Li, Qinghua. 2013. "Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing." Sensors 13, no. 12: 15937-15953.