Pedestrian Positioning Technology Combining IMU and Wireless Signals Based on MC-CKF

Seong Cho, Jae Uk Kwon

2025

Abstract

In the paper, the pedestrian position is estimated by integrating the inertial measurement unit (IMU) and the wireless signal using the Cubature Kalman filter (CKF) based on the maximum correntropy criterion (MCC). Wireless signals may include short-range wireless communications such as ultra-wideband (UWB) signal and mobile communication signals such as LTE/5G. UWB can measure distances with an error of less than 30 cm in a line-of-sight (LoS) environment, but in an environment with LoS, it provides range measurements with a wide range of non-Gaussian uncertainty errors. In this case, ia an IMU/UWB system is configured with a conventional minimum mean square error (MMSE)-based filter, significant errors will occur. To address this issue, this paper designed an MCC-based CKF and applied it to pedestrian positioning technology. Simulation analysis results demonstrated that the proposed filter is robust to UWB uncertainty and enables reliable IMUUWB integration.

Paper Citation

in Harvard Style

Cho S. and Kwon J. (2025). Pedestrian Positioning Technology Combining IMU and Wireless Signals Based on MC-CKF. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 375-379. DOI: 10.5220/0013830800003982

in Bibtex Style

@conference{icinco25,
author={Seong Cho and Jae Kwon},
title={Pedestrian Positioning Technology Combining IMU and Wireless Signals Based on MC-CKF},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2025},
pages={375-379},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013830800003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Pedestrian Positioning Technology Combining IMU and Wireless Signals Based on MC-CKF
SN - 978-989-758-770-2
AU - Cho S.
AU - Kwon J.
PY - 2025
SP - 375
EP - 379
DO - 10.5220/0013830800003982
PB - SciTePress