Personnel Positoning Based on Improved Cubature Kalman Filter Considering Packet Loss in Industrial Environment

摘要

Aiming at the shortcomings of low precision and poor performance of human location algorithm in industrial environment, an improved cubature Kalman filter (ICKF) based on packet loss is proposed. In order to improve the positioning accuracy, ICKF is used to process the sensor data to ensure the tracking ability of the filter to the structural parameter changes. The new sampling rule of cubature points is used to improve the filtering accuracy, and the fading factor of strong tracking filter (STF) is introduced to improve the robustness of the algorithm in the case of packet loss. Simulation results show that the algorithm can significantly improve the robustness of personnel positioning in industrial environment, and can still meet the requirements of industrial environment in the case of packet loss.