A NLOS-robust TOA positioning filter based on a skew-t measurement noise model
2015 (English)In: 2015 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION (IPIN), IEEE , 2015Conference paper (Refereed)Text
A skew-t variational Bayes filter (STVBF) is applied to indoor positioning with time-of-arrival (TOA) based distance measurements and pedestrian dead reckoning (PDR). The proposed filter accommodates large positive outliers caused by occasional non-line-of-sight (NLOS) conditions by using a skew-t model of measurement errors. Real-data tests using the fusion of inertial sensors based PDR and ultra-wideband based TOA ranging show that the STVBF clearly outperforms the extended Kalman filter (EKF) in positioning accuracy with the computational complexity about three times that of the EKF.
Place, publisher, year, edition, pages
IEEE , 2015.
, International Conference on Indoor Positioning and Indoor Navigation, ISSN 2162-7347
indoor positioning; TOA; UWB; NLOS; robust filtering; skewness; skew-t; variational Bayes
IdentifiersURN: urn:nbn:se:liu:diva-130455DOI: 10.1109/IPIN.2015.7346786ISI: 000379160900038ISBN: 978-1-4673-8402-5OAI: oai:DiVA.org:liu-130455DiVA: diva2:951147
ternational Conference on Indoor Positioning and Indoor Navigation (IPIN)