UWB/INS Location via Fuzzy Kalman Filtering for Electrical Apparatuses in Complex Indoor Environment

With the continuous application of location technology, ultra-wide band (UWB) location as a typical representation of indoor location technology is developing rapidly. It possesses many excellent features and performs well in UWB/INS integrated navigation system. Therefore, this paper investigates the UWB/INS integrated navigation method with fuzzy Kalman filtering algorithm in the case of existing large fluctuation caused by non-line-of-sight (NLOS) factors to meet the requirements on high location accuracy of electrical apparatuses in the complex indoor environment.This paper presents the fuzzy Kalman filtering algorithm by theoretical derivation and algorithm flow chart, and then carries out related simulation experiments to show and analyze the comparison results of the original algorithm and the modified one by using fuzzy control. The comparison of error curves indicates that the improved algorithm can effectively deal with the non-line-of-sight interference, and make sure the location data smoother and more reliable. This method is helpful to improve the location of electrical apparatuses.