Integrated IMU and radiolocation-based navigation using a Rao-Blackwellized particle filter

Author(s)
Li, William Wei-Liang; Iltis, Ronald A.; Win, Moe Z.
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Abstract
In this paper, we develop a cooperative IMU/radio-location-based navigation system, where each node tracks the location not only based on its own measurements, but also via collaboration with neighbor nodes. The key problem is to design a nonlinear filter to fuse IMU and radiolocation information. We apply the Rao-Blackwellization method by using a particle filter and parallel Kalman filters for the estimation of orientation and other states (i.e., position, velocity, etc.), respectively. The proposed method significantly outperforms the extended Kalman filter (EKF) in the set of simulations here.
Date issued
2013-05
URI
http://hdl.handle.net/1721.1/97201
Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics; Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Journal
Proceedings of the 2013 IEEE International Conference on Acoustics, Speech and Signal Processing
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Li, William Wei-Liang, Ronald A. Iltis, and Moe Z. Win. “Integrated IMU and Radiolocation-Based Navigation Using a Rao-Blackwellized Particle Filter.” 2013 IEEE International Conference on Acoustics, Speech and Signal Processing (May 2013).
Version: Author's final manuscript
ISBN
978-1-4799-0356-6
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