Affiliations: Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China
Correspondence:
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Corresponding author. Tao Zhang, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. E-mail: zhangtao22@seu.edu.cn.
Abstract: Aiming at the nonlinear filter problem in Ultra Wide Band (UWB) navigation and position, a high-order Unscented Kalman Filter (UKF) position method is proposed. On the one hand, the position and velocity are used as state variables to establish a nonlinear filtering model based on UWB position system. On the other hand, based on the fifth order cubature transform (CT), the analytical solution of the high-order unscented Kalman filter is obtained by introducing a free parameter δ. To verify the effectiveness of the proposed method, the Time of Arrival (TOA) location method, the least square method and fifth order CKF method are introduced as comparison methods. The simulation and experimental results show that the proposed high-order UKF method has good positioning accuracy in both static and dynamic UWB positioning methods.
Keywords: UWB positioning, UKF, TOA, least square method
