Work

Student’s t-Distributed Extended Kalman Filter with Switch Factor for UWB Localization Under Colored Measurement Noise

Year: 2025

Type: article

Abstract: To increase information accuracy when using ultrawide-band (UWB) localization for robotic dogs, we introduce a switching method for a Student’s t-distributed extended Kalman filter (EKF) that achieves UWB localization under colored measurement noise (CMN). First, a distributed UWB localization framework under CMN is designed, which can reduce the impact of CMN caused by carrier jitter on positioning accuracy. Then, a Student’s t-distributed EKF under CMN with a switch factor is proposed, which effectively improves the adaptability of the algorithm through adaptive selection of colored factors. Finally, experimental validation demonstrates the efficacy and high performance of the proposed method for two practical scenarios.

Source: Micromachines

DOI: 10.3390/mi16111231

Authors: Yuan Xu, Haoran Yin, Maosheng Yang, Lei Deng, Mingxu Sun

Institutions: University of Jinan, Shandong University of Science and Technology, Shandong Huayu University of Technology

Language: English

Topic: Indoor and Outdoor Localization Technologies

Subfield: Electrical and Electronic Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,534

Funder: Natural Science Foundation of Shandong Province