Publication: Investigation of UWB-IMU sensor fusion for indoor navigation with DoE
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Date
2023-01-01
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Abstract
This study presents an evaluation of the optimal parameter configuration for Ultra-Wide Band (UWB) - Inertial Measurement Units - (IMU) based sensor fusion for indoor localization in Non-Line-of-Sight (NLOS) environments. The study employs the least squares method to predict position using UWB technology. Subsequently, sensor fusion techniques combining UWB and IMU are employed, utilizing the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) algorithms to enhance position estimation. To mitigate the effects of noise in IMU data, a high-pass filter is applied before feeding the data into the EKF and UKF. The experimental findings are then evaluated using Design of Experiment (DoE) techniques, and the optimal parameter configurations are analysed using linear regression. This study provides insight into the parameter settings that yield improved accuracy and robustness in UWB-IMU sensor fusion for indoor localization in NLOS scenarios.
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Tıp, Sosyal ve Beşeri Bilimler, Sosyoloji, Kütüphanecilik, Tarımsal Bilimler, Ziraat, Tarım Makineleri, Tarımda Enerji, Biyoyakıt Teknolojisi, Bilgisayar Bilimleri, Algoritmalar, Sağlık Bilimleri, Temel Tıp Bilimleri, Biyoistatistik ve Tıp Bilişimi, Mühendislik ve Teknoloji, Medicine, Social Sciences and Humanities, Sociology, Library Sciences, Agricultural Sciences, Agriculture, Farm Machinery, Energy in Agriculture, Biofuels Technology, Computer Sciences, algorithms, Health Sciences, Fundamental Medical Sciences, Biostatistics and Medical Informatics, Engineering and Technology, Klinik Tıp (MED), Mühendislik, Bilişim ve Teknoloji (ENG), Sosyal Bilimler (SOC), Klinik Tıp, Bilgisayar Bilimi, Mühendislik, Sosyal Bilimler Genel, TIBBİ BİLİŞİM, BİLGİSAYAR BİLİMİ, YAPAY ZEKA, ENERJİ VE YAKITLAR, BİLGİ BİLİMİ VE KÜTÜPHANE BİLİMİ, Clinical Medicine (MED), Engineering, Computing & Technology (ENG), Social Sciences (SOC), CLINICAL MEDICINE, COMPUTER SCIENCE, ENGINEERING, SOCIAL SCIENCES, GENERAL, MEDICAL INFORMATICS, COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE, ENERGY & FUELS, INFORMATION SCIENCE & LIBRARY SCIENCE, Yapay Zeka, Fizik Bilimleri, Bilgisayar Bilimi Uygulamaları, Bilgisayarla Görme ve Örüntü Tanıma, Bilgi Sistemleri ve Yönetimi, Sosyal Bilimler ve Beşeri Bilimler, Enerji Mühendisliği ve Güç Teknolojisi, Tıbbi Bilişim, Artificial Intelligence, Physical Sciences, Computer Science Applications, Computer Vision and Pattern Recognition, Information Systems and Management, Social Sciences & Humanities, Energy Engineering and Power Technology, Health Informatics, Design of Experiment, IMU, Indoor Navigation, Sensor Fusion, UWB
Citation
Durmus S., DEMİR U., AKGÜN G., YILDIRIM A., \"Investigation of UWB-IMU Sensor Fusion for Indoor Navigation with DoE\", 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023, Sivas, Türkiye, 11 - 13 Ekim 2023