Indoor positioning through integration of optical angles of arrival with an inertial measurement unit
Indoor positioning through integration of optical angles of arrival with an inertial measurement unit
复制标题
通过将光学到达角与惯性测量单元集成进行室内定位
DOI：
--
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
R. Klukas
中科院分区：
文献类型：
--
作者：
M. S. Islam;R. Klukas
提出了一种新的室内定位方案。惯性导航系统(INS)与光学到达角(OAOA)测量相结合，为室内环境提供了更平滑、更准确和更稳健的定位解决方案。采用扩展卡尔曼滤波(EKF)对INS和OAOA测量进行联合处理。本文研究了INS和OAOA的松散耦合和紧耦合两种集成策略。在相同的实验环境下，紧耦合策略的平均误差为1.67 cm，而松耦合策略的平均误差为2.34 cm。然而，紧耦合系统的性能改善伴随着计算成本的增加。
A novel indoor positioning solution (IPS) is proposed in this paper. An inertial navigation system (INS) is integrated with optical angles of arrival (OAOA) measurements to yield a smoother, more accurate, and robust positioning solution for indoor environments. An extended Kalman filter (EKF) is used to integrate the INS and OAOA measurement. In this paper, both loosely coupled and tightly coupled integration strategies are explored for INS and OAOA integration. The tightly coupled strategy results in an average error of 1.67 cm while the loosely coupled strategy has a larger average error of 2.34 cm for the same experimental environment. However, the performance improvement of the tightly coupled system comes with an increased computational cost.