Application of Adaptive Extended Kalman Smoothing on INS/WSN Integration System for Mobile Robot Indoors

Abstract

The inertial navigation systems (INS)/wireless sensor network (WSN) integration system for mobile robot is proposed for navigation information indoors accurately and continuously. The Kalman filter (KF) is widely used for real-time applications with the aim of gaining optimal data fusion. In order to improve the accuracy of the navigation information, this work proposed an adaptive extended Kalman smoothing (AEKS) which utilizes inertial measuring units (IMUs) and ultrasonic positioning system. In this mode, the adaptive extended Kalman filter (AEKF) is used to improve the accuracy of forward Kalman filtering (FKF) and backward Kalman filtering (BKF), and then the AEKS and the average filter are used between two output timings for the online smoothing. Several real indoor tests are done to assess the performance of the proposed method. The results show that the proposed method can reduce the error compared with the INS-only, least squares (LS) solution, and AEKF.