Mr. Przemyslaw Pasek Profile

Przemyslaw Pasek

at Wojskowa Akademia Techniczna

SPIE Involvement:

Author

Publications (1)

This will count as one of your downloads.

You will have access to both the presentation and article (if available).

DOWNLOAD NOW

This content is available for download via your institution's subscription. To access this item, please sign in to your personal account.

Email or Username Forgot your username?

Password Forgot your password?

Show

Keep me signed in

No SPIE account? Create an account

Proceedings Article | 11 February 2020 Open Access

Unscented Kalman filter application in personal navigation

Przemysław Pasek, Piotr Kaniewski

Proceedings Volume 11442, 114421C (2020) https://doi.org/10.1117/12.2564984

KEYWORDS: Filtering (signal processing), Navigation systems, Algorithm development, Systems modeling, Buildings, Distance measurement, Data processing, Microcontrollers, Computer simulations, Matrices

Read Abstract +

A choice of positioning algorithm is a key issue when designing a navigation system. The paper presents an Unscented Kalman Filter (UKF) for a personal navigation system using range measurements between ultrawideband radio modules for positioning. The mentioned system is described by a linear dynamics model and a non-linear observation model, and therefore UKF can be successfully applied for its state estimation. The unscented Kalman filter is a suboptimal non-linear filtration algorithm, however, in contrast to algorithms such as EKF or LKF, it uses an unscented transformation (UT) as an alternative to a linearization of non-linear equations with the use of Taylor series expansion. The linearization considers only the first term of a Taylor series and its higher terms are omitted, which degrades estimation accuracy in highly non-linear systems. Lack of necessity of a linearization of the dynamics and observation models leads to a higher navigation system accuracy. It also facilitates an implementation of the algorithm as non-linear transformations of a set of deterministically chosen sigma points replaces calculations of Jacobian matrices. The paper presents a personal navigation system designed by the authors, describes its unscented Kalman filter used for a mobile user position estimation and contains chosen simulation results of the tests of the filter. Based on these data, efficiency of using this kind of filtration in non-linear navigation systems has been assessed.

DOWNLOAD PAPER

My Library

You currently do not have any folders to save your paper to! Create a new folder below.

Folder Name

Folder Description

View contact details

UPDATE YOUR PROFILE

Is this your profile? Update it now.

Sign into your SPIE.org account

Don’t have a profile and want one?

Create an account on SPIE.org

Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks. You are receiving this notice because your organization may not have SPIE eBooks access.*

*Shibboleth/Open Athens users─please sign in to access your institution's subscriptions.

To obtain this item, you may purchase the complete book in print or electronic format on SPIE.org.

ORGANIZATIONAL
Sign in with credentials provided by your organization.

Organizational Username

Organizational Password

Show/Hide Password

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members:

Non-members: ADD TO CART

Keywords/Phrases

Search In:

Publication Years