Elena Cama, Loren Brener, Robyn Horwitz, Timothy R Broady, Hoang Minh Khoi Vu, Defeng Jin, K O E Wu, Carla Treloar
Factors associated with hepatitis B knowledge among people of Vietnamese ethnicity in Australia
Psychology, health & medicine
aiming problem ultrawide band uwb cannot accurately localized environments large noise variations unknown statistical properties combinatorial localization method based improved cubature ckf proposed first order overcome problem inaccurate local approximation even inability converge due initial value set near optimal solution process solving uwb position leastsquares method levenbergmarquardt algorithm lm adopted optimally solve uwb position secondly uwb imu information centrally fused adaptive factor introduced update measurement noise covariance matrix real time update observation noise fading factor added suppress filtering divergence achieve improvement traditional ckf algorithm finally performance proposed combined localization method verified field experiments lineofsight los nonlineofsight nlos scenarios respectively results show proposed method maintain high localization accuracy los nlos scenarios compared extended kalman filter ekf unbiased kalman filter ukf ckf algorithms localization accuracies proposed method nlos scenarios improved 252 183 113 respectively