Novel prior position determination approaches in particle filter for Ultra Wideband (UWB)-Based indoor positioning
Filtering‐based indoor positioning using ultra wideband (UWB) requires known velocity to predict prior position in the prediction stage. Velocity can be obtained from an inertial measurement unit (IMU) sensor or the posterior state vector at the previous time stamp. Both methods have limitations whe...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021
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| Online Access: | https://eprints.nottingham.ac.uk/65083/ |
| _version_ | 1848800183686529024 |
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| author | Zhou, Ning Lau, Lawrence Bai, Ruibin Moore, Terry |
| author_facet | Zhou, Ning Lau, Lawrence Bai, Ruibin Moore, Terry |
| author_sort | Zhou, Ning |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | Filtering‐based indoor positioning using ultra wideband (UWB) requires known velocity to predict prior position in the prediction stage. Velocity can be obtained from an inertial measurement unit (IMU) sensor or the posterior state vector at the previous time stamp. Both methods have limitations when using them in practice. This paper proposes two novel velocity determination approaches, which use measurements to approximate velocity in a self‐contained way. They are integrated into particle filtering algorithms for prior position determination. The test result shows that the particle filter with the proposed approaches performs similarly to the Rao‐Blackwellized particle filter and slightly better than the particle filter with IMU. Compared with the standard particle filter, the particle filters with our proposed approaches achieve similar positioning accuracies with less computation time. Moreover, it is found that the integration of Angle‐of‐Arrival measurements in particle‐filter‐based positioning improves the 3‐D positioning accuracy by about 37.3% on average. |
| first_indexed | 2025-11-14T20:47:31Z |
| format | Article |
| id | nottingham-65083 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T20:47:31Z |
| publishDate | 2021 |
| publisher | Wiley |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-650832021-04-12T06:45:41Z https://eprints.nottingham.ac.uk/65083/ Novel prior position determination approaches in particle filter for Ultra Wideband (UWB)-Based indoor positioning Zhou, Ning Lau, Lawrence Bai, Ruibin Moore, Terry Filtering‐based indoor positioning using ultra wideband (UWB) requires known velocity to predict prior position in the prediction stage. Velocity can be obtained from an inertial measurement unit (IMU) sensor or the posterior state vector at the previous time stamp. Both methods have limitations when using them in practice. This paper proposes two novel velocity determination approaches, which use measurements to approximate velocity in a self‐contained way. They are integrated into particle filtering algorithms for prior position determination. The test result shows that the particle filter with the proposed approaches performs similarly to the Rao‐Blackwellized particle filter and slightly better than the particle filter with IMU. Compared with the standard particle filter, the particle filters with our proposed approaches achieve similar positioning accuracies with less computation time. Moreover, it is found that the integration of Angle‐of‐Arrival measurements in particle‐filter‐based positioning improves the 3‐D positioning accuracy by about 37.3% on average. Wiley 2021-03-31 Article PeerReviewed application/pdf en https://eprints.nottingham.ac.uk/65083/1/prior%20position%20determination.pdf Zhou, Ning, Lau, Lawrence, Bai, Ruibin and Moore, Terry (2021) Novel prior position determination approaches in particle filter for Ultra Wideband (UWB)-Based indoor positioning. Navigation . pp. 1-16. ISSN 0028-1522 indoor positioning ; ultra wideband https://doi.org/10.1002/navi.415 doi:10.1002/navi.415 doi:10.1002/navi.415 |
| spellingShingle | indoor positioning ; ultra wideband Zhou, Ning Lau, Lawrence Bai, Ruibin Moore, Terry Novel prior position determination approaches in particle filter for Ultra Wideband (UWB)-Based indoor positioning |
| title | Novel prior position determination approaches in particle filter for Ultra Wideband (UWB)-Based indoor positioning |
| title_full | Novel prior position determination approaches in particle filter for Ultra Wideband (UWB)-Based indoor positioning |
| title_fullStr | Novel prior position determination approaches in particle filter for Ultra Wideband (UWB)-Based indoor positioning |
| title_full_unstemmed | Novel prior position determination approaches in particle filter for Ultra Wideband (UWB)-Based indoor positioning |
| title_short | Novel prior position determination approaches in particle filter for Ultra Wideband (UWB)-Based indoor positioning |
| title_sort | novel prior position determination approaches in particle filter for ultra wideband (uwb)-based indoor positioning |
| topic | indoor positioning ; ultra wideband |
| url | https://eprints.nottingham.ac.uk/65083/ https://eprints.nottingham.ac.uk/65083/ https://eprints.nottingham.ac.uk/65083/ |