WCSE

Unscented-Kalman-Filter Based UWB and INS Fusion Positioning for Firefighters Application

Abstract— Firefighter positioning is an important application field of Internet of things (IOT) technology. This paper aim at the problem that it is difficult for the fire command center to obtain firefighter location data under the influence of complex environment around the fire site and indoor non-line-of-sight (NLOS), ultra wideband (UWB) and inertial navigation system (INS) fusion positioning and NLOS detection algorithm based on unscented Kalman filter (UKF) is proposed. UKF avoids ignoring the high-order term of the nonlinear observation equation, which can effectively improve the solution accuracy of the nonlinear equation. The UKF fusion positioning framework takes the more accurate initial positioning coordinates obtained by the INS in a short time as observed values of UKF, and uses the initial positioning coordinates to detect the NLOS error, and uses the residual matrix constructed by the residual values to adjust the measurement noise matrix in UKF to reduce NLOS error. The simulation and experimental results show that the data for the position root mean square error (RMSE) of the proposed algorithm are 0.091m, 0.096m and 0.127m respectively in different groups of NLOS experimental environments. So, the method proposed in this paper has high positioning accuracy in the NLOS environment.

Index Terms— internet of things, ultra wideband, inertial navigation system, unscented Kalman filter, firefighter positioning

Gang Yang
School of Communication and Information Engineering, Xi'an University of Posts and Telecommunications, China
Jinbo Hu
School of Communication and Information Engineering, Xi'an University of Posts and Telecommunications, China
Kaili Zhang
School of Communication and Information Engineering, Xi'an University of Posts and Telecommunications, China

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Cite: Gang Yang, Jinbo Hu, Kaili Zhang, " Unscented-Kalman-Filter Based UWB and INS Fusion Positioning for Firefighters Application, " WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications, pp. 598-607, Sanya, China, April 15-18, 2022.