A combined algorithm for the loosely fused ultra wide band(UWB)and inertial navigation system(INS)-based measurements is designed under the indoor human navigation conditions with missing data.The scheme proposed fuse...A combined algorithm for the loosely fused ultra wide band(UWB)and inertial navigation system(INS)-based measurements is designed under the indoor human navigation conditions with missing data.The scheme proposed fuses the INS-and UWB-derived positions via a data fusion filter.Since the UWB signal is prone to drift in indoor environments and its outage highly affects the integrated scheme reliability,we also consider the missing data problem in UWB measurements.To overcome this problem,the loosely-coupled INS/UWB-integrated scheme is augmented with a prediction option based on the predictive unbiased finite impulse response(UFIR)fusion filter.We show experimentally that,the standard UFIR fusion filter has higher robustness than the Kalman filter.It is also shown that the predictive UFIR fusion filter is able to produce an acceptable navigation accuracy under temporary missing UWB-data.展开更多
The two proposed filters described here satisfy the Federal Communications Commission Ultra-wideband (FCC-UWB) specifications and also control the center frequency and bandwidth of the filters passband. These filters ...The two proposed filters described here satisfy the Federal Communications Commission Ultra-wideband (FCC-UWB) specifications and also control the center frequency and bandwidth of the filters passband. These filters consist of two distinguishing parts, Electromagnetic bandgap (EBG)-embedded multiple- mode resonator (MMR) and interdigital coupled lines to realize high performance in the operation band with a compact size of 14.0 mm × 10.1 mm. The main advantage of the two proposed filters is that three different bands are tuned. The 1st tuned band is from 3.5 GHz to 11.4 GHz for the first filter and from 3.1 GHz to 11.6 GHz for the second proposed filter, respectively. The 2nd tuned band is from 3.5 GHz to 7.5 GHz for the first filter and from 3.1 GHz to 7.8 GHz for the second proposed filter, respectively. While the 3rd tuned band of the first proposed filter is from 3.5 GHz to 5.9 GHz and from 3.1 GHz to 5.8 GHz for the second proposed filter. The bandwidth of the filters can be changed by increasing the length of the outer open circuited stubs which are controlled by using switching matrix equipment (mini circuit, replacement of PIN diodes). To validate the design theory, a reconfigurable UWB bandpass filters (BPFs) with EBG Embedded MMR are designed, fabricated and measured. Good agreement is found between simulated and measured results.展开更多
基金supported in part by the National Natural Science Foundation of China(61803175)in part by the Project of Shandong Provincial Natural Science Foundation(ZR2018LF010)
文摘A combined algorithm for the loosely fused ultra wide band(UWB)and inertial navigation system(INS)-based measurements is designed under the indoor human navigation conditions with missing data.The scheme proposed fuses the INS-and UWB-derived positions via a data fusion filter.Since the UWB signal is prone to drift in indoor environments and its outage highly affects the integrated scheme reliability,we also consider the missing data problem in UWB measurements.To overcome this problem,the loosely-coupled INS/UWB-integrated scheme is augmented with a prediction option based on the predictive unbiased finite impulse response(UFIR)fusion filter.We show experimentally that,the standard UFIR fusion filter has higher robustness than the Kalman filter.It is also shown that the predictive UFIR fusion filter is able to produce an acceptable navigation accuracy under temporary missing UWB-data.
文摘The two proposed filters described here satisfy the Federal Communications Commission Ultra-wideband (FCC-UWB) specifications and also control the center frequency and bandwidth of the filters passband. These filters consist of two distinguishing parts, Electromagnetic bandgap (EBG)-embedded multiple- mode resonator (MMR) and interdigital coupled lines to realize high performance in the operation band with a compact size of 14.0 mm × 10.1 mm. The main advantage of the two proposed filters is that three different bands are tuned. The 1st tuned band is from 3.5 GHz to 11.4 GHz for the first filter and from 3.1 GHz to 11.6 GHz for the second proposed filter, respectively. The 2nd tuned band is from 3.5 GHz to 7.5 GHz for the first filter and from 3.1 GHz to 7.8 GHz for the second proposed filter, respectively. While the 3rd tuned band of the first proposed filter is from 3.5 GHz to 5.9 GHz and from 3.1 GHz to 5.8 GHz for the second proposed filter. The bandwidth of the filters can be changed by increasing the length of the outer open circuited stubs which are controlled by using switching matrix equipment (mini circuit, replacement of PIN diodes). To validate the design theory, a reconfigurable UWB bandpass filters (BPFs) with EBG Embedded MMR are designed, fabricated and measured. Good agreement is found between simulated and measured results.
