Prior Kinematic Information Fusion for Pedestrian Localization With Toe-Heel-Shank MIMUs

Li, Zhe; Xu, Xiangbo; Wang, Jiansheng; Zhang, Chuankun

doi:10.1109/tie.2022.3201278

Cited by 5 publications

(2 citation statements)

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“…error 𝑇 1 𝐾 𝐾 2 (7) where 𝑲 𝑨𝟎 and 𝑲 𝑻𝟎 are the ratios of the actual and expected frequencies of the base station A0 and tag T0 clocks, respectively. Therefore, the error of distance measurement caused by the bilateral ranging method is negligible.…”

Section: Double-sided Two-way Rangingmentioning

confidence: 99%

“…Memory cutting, hydraulic brace movements, and mining process choices are all based on the coal mining machine’s precise location. The micro-electromechanical inertial measurement unit (MIMU) [ 6 , 7 ] provides a wealth of navigation information for the Strapdown Inertial Navigation System (SINS) [ 8 ] with its low cost and small size. However, the MIMU orientation method is less accurate because it is more subject to ambient interference and mistakes brought on by attitude and position solving from pure inertial guiding data.…”

Section: Introductionmentioning

confidence: 99%

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Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines

Wang

Zhang

et al. 2023

Micromachines

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The application of an ultra-wideband (UWB) positioning system in a Global Positioning System (GPS) denial environment such as an underground coal mine, mainly focuses on position information and rarely involves information such as direction attitude. Position accuracy is often affected by multipath, non-visible ranges, base station layout, and more. We proposed an IMU-assisted UWB-based positioning system for the provision of positioning and orientation services to coal miners in underground mines. The Error-State Kalman Filter (ESKF) is used to filter the errors in the measured data from the IMU-assisted UWB positioning system to obtain the best estimate of the error for the current situation and correct for inaccuracies due to approximations. The base station layout of the IMU-assisted UWB positioning system was also simulated. The reasonable setting of the reference base station location can suppress multi-access interference and improve positioning accuracy to a certain extent. Numerous simulation experiments have been conducted in GPS denial environments, such as underground coal mines. The experimental results show the effectiveness of the method for determining the position, direction, and attitude of the coal miner under the mine, which provides a better reference value for positioning and orientation in a GPS rejection environment such as under the mine.

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Section: Double-sided Two-way Rangingmentioning

confidence: 99%