Comparison of Extended and Unscented Kalman Filters Performance in a Hybrid BLE-UWB Localization System
Marcin Kołakowski
Abstract
The paper presents a comparison of performance of two Kalman Filters: extended Kalman filter (EKF) and unscented Kalman filter (UKF) in a hybrid Bluetooth-Low-Energy-ultra-wideband (BLE-UWB) based localization system. In the system, the user is localized primarily based on Received Signal Strength (RSS) measurements of BLE signals. The UWB part of the system is periodically used to improve localization accuracy by supplying the algorithm with measured UWB packets time difference of arrival (TDOA). The proposed scheme was experimentally validated using two algorithms: the EKF and the UKF. The localization accuracy of both algorithms is compared.
Topics & Concepts
Kalman filterExtended Kalman filterMultilaterationComputer scienceUltra-widebandRSSNetwork packetBluetoothFast Kalman filterAlgorithmControl theory (sociology)WirelessArtificial intelligenceNode (physics)TelecommunicationsAcousticsPhysicsComputer networkControl (management)Operating systemIndoor and Outdoor Localization TechnologiesTarget Tracking and Data Fusion in Sensor NetworksGNSS positioning and interference