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Robust iterated extended Kalman filter algorithm for foot-mounted inertial measurement units/ultrawideband fusion positioning

Abstract. As a fundamental prerequisite for a variety of location-based services, indoor location information has received increasing attention in recent years. Under the line-of-sight condition, the positioning accuracy of the indoor positioning technology based on ultrawideband (UWB) is acceptable for many applications, but under the non-line-of-sight condition, it degrades dramatically. The positioning accuracy can be significantly improved by the fusion of inertial measurement units and UWB sensors based on the extended Kalman filter (EKF) algorithm. However, when UWB measurements are affected by large non-Gaussian noise, the assumption of the EKF algorithm that observations are subject to Gaussian distribution for noise is invalid. Although the non-Gaussian noise can be handled by the robust EKF algorithm, this algorithm only uses the prior information to judge the reliability of the observations, and the positioning result is not stable when the number of beacons is small. To solve this problem, a method for successive updating of the covariance and posterior state of the observations in iterations based on an iterated extended Kalman filter (IEKF) is proposed. The marginal distribution of the posterior distribution is constructed and iteratively optimized, inhibiting the effect of non-Gaussian noise on UWB under a complex environment. The positioning results of the proposed method, the standard EKF algorithm, and the robust EKF algorithm, using different numbers of beacons, are compared. The results show that the positioning accuracy of the proposed algorithm is the highest under all scenarios. The proposed algorithm shows the smallest decrease in accuracy and presents the most stable positioning when the number of beacons is small, which is a common situation in practical applications.