论文信息 - A Novel Infrared Landmark Indoor Positioning Method Based on Improved IMM-UKF

A Novel Infrared Landmark Indoor Positioning Method Based on Improved IMM-UKF

In structured environment, according to the requirement of indoor robot navigation for accuracy and real-time performance, On the basis of a novel positioning method using infrared landmarks, another novel infrared landmark indoor positioning method which uses high power infrared tube as landmarks, infrared camera as receiving sensor ,and combines track deduction is proposed in this paper. An improved Interacting Multiple Models Unscented Kalman Filter (IMM-UKF) data fusion algorithm for the two positioning scheme is used to improve the precision. Experimental results show that the novel infrared landmark indoor positioning method can increase the location speed and precision effectively.

Yuan Luo | Yi Zhang | Hong Song Chen

[1] Wang Xiao,et al. Adaptive UKF Filtering Algorithm Based on Maximum a Posterior Estimation and Exponential Weighting , 2010 .

[2] Jun Cai,et al. Design and Implementation of Positioning System Based on Smart Space for Intelligent Wheelchair , 2012 .

[3] Jicheng Ding,et al. Adaptive UKF Filtering Algorithm Based on Maximum a Posterior Estimation and Exponential Weighting: Adaptive UKF Filtering Algorithm Based on Maximum a Posterior Estimation and Exponential Weighting , 2010 .

[4] Zhang Dong-hua. A Model-independent Fast Localization Algorithm of WiFi Access Point , 2013 .

[5] Javier Civera,et al. 1-point RANSAC for EKF-based Structure from Motion , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.