Asynchronous multi-rate transfer filtering under colored measurement noise for INS/UWB integrated navigation
Abstract
Abstract To improve the accuracy of indoor robotic dog integrated navigation systems, the impact of colored measurement noise (CMN) generated by vibrations during specific maneuvers of the target platform is considered. This paper proposes an asynchronous multi-rate transfer filtering approach for integrated Inertial Navigation System (INS)/Ultra-Wideband (UWB) navigation systems under CMN conditions. This approach addresses the misalignment of sampling times and frequency mismatch between INS and UWB systems by transferring observations from the source domain to the target domain, which effectively improves estimation performance. Experimental results demonstrate that the proposed method significantly reduces positioning errors.
Fields of Study & Subjects
Inertial Sensor and Navigation
Indoor and Outdoor Localization Technologies
Target Tracking and Data Fusion in Sensor Networks
Publication details
- Journal / source
- Journal of Physics Conference Series
- Volume
- 3176
- Issue
- 1
- Pages
- 012031–012031
- Publication date
- 1 February 2026
- Language
- EN