Novel prior position determination approaches in particle filter for ultra wideband (UWB)-based indoor positioning

Article Figures & Data

Download figure
Open in new tab
Download powerpoint
FIGURE 1
The plan of the simulation scenario
Download figure
Open in new tab
Download powerpoint
FIGURE 2
The plan of the trajectories obtained by the particle filtering algorithms with the proposed approaches. The scales in X and Y axes are different
Download figure
Open in new tab
Download powerpoint
FIGURE 3
The 3-D positioning errors along the trajectory. The scales in X and Y axes are different
Download figure
Open in new tab
Download powerpoint
FIGURE 4
The trolley used in the experiment
Download figure
Open in new tab
Download powerpoint
FIGURE 5
Locations of the six UWB sensors and twenty test points in the test (the first three digits for easting “360″ and northing “329″ are omitted, the unit is meter). The terms “easting” and “northing” are the UTM coordinates. Easting refers to the eastward-measured distance from the origin of the coordinates system, while northing refers to the northward-measured distance from the origin
Download figure
Open in new tab
Download powerpoint
FIGURE 6
The comparison of MRSE of the five particle-filter-based algorithms with different numbers of particles. The scales in X and Y axes are different. (PF: particle filter)

TABLE 1

Algorithm and observation used for each test (PF: Particle filter)

TABLE 2

Standard deviations of the process and measurement noises in each algorithm (PF: Particle filter)

Algorithm	Motion Process Noise	Measurement Noise
PF with IMU	σ_x = σ_y = σ_z = 0.2m	σ_d = 0.3 m σ_α = 3°
PF with Approach 1	σ_x = σ_y = σ_z = 0.6 m/s² (first time stamp) σ_x = σ_y = σ_z = 0.4 m/s² (latter time stamps)	σ_ϕ = 5°
PF with Approach 2	/ (determine adaptively)
standard PF	σ_x = σ_y = σ_z = 0.1 m/s²
Rao-Blackwellized PF

TABLE 3

Statistical results of the assessment (N_p = 5000)

Test Number	DRMSE (m)	MRSE (m)	Maximum Error (m)		95% Confidence Level (m)		Computation time (ms)
Test Number	DRMSE (m)	MRSE (m)	2-D	3-D	2-D	3-D	Computation time (ms)
Test-1	0.2149	0.8762	0.4901	1.9903	0.3789	1.7712	588.2
Test-2	0.2048	0.5433	0.4023	1.0536	0.3485	0.9415	589.8
Test-3	0.2153	0.8727	0.4734	1.9809	0.3970	1.7155	559.5
Test-4	0.2015	0.5483	0.3988	1.2007	0.3760	0.9777	561.1
Test-5	0.1909	0.8486	0.4062	2.0323	0.3571	1.7390	585.1
Test-6	0.1855	0.5365	0.3776	1.1533	0.3494	0.9256	586.7
Test-7	0.2205	0.5694	0.4115	1.2598	0.3866	0.9901	575.2
Test-8	0.1869	0.5388	0.3853	1.1646	0.3497	0.9401	569.6
Test-9	0.2115	1.1690	0.4741	2.4904	0.4344	2.1455	4.0

TABLE 4

The average computation time of the five particle-filter-based algorithms with different numbers of particles. (Unit: Ms, PF: Particle filter)

Particle number	PF with IMU	PF with Approach 1	PF with Approach 2	Standard PF	RBPF
50	8.1	6.3	7.8	7.4	6.5
100	16.9	12.5	15.4	14.8	14.8
200	34.8	26.1	32.1	30.7	30.9
500	69.5	59.7	66.5	64.2	63.8
1000	130.6	116.4	127.5	123.4	119.7
2000	247.8	234.3	246.2	239.3	236.6
5000	589.8	561.1	586.7	575.2	569.6
10000	1158.7	1126.5	1149.6	1137.4	1130.9
20000	2310.5	2294.8	2304.6	2300.2	2298.7