Iterative Extended UFIR Filtering in Applications to Mobile Robot Indoor Localization

Professor Yuriy S. Shmaliy
Department of Electronics
DICIS, Guanajuato University
Salamanca, 36855, Mexico
E-mail: [email protected]
 

Abstract: A novel iterative extended unbiased FIR (EFIR) filtering algorithm is discussed to solve suboptimally the nonlinear estimation problem. Unlike the Kalman filter, the EFIR filtering algorithm completely ignores the noise statistics, but requires an optimal horizon of N points in order for the estimate to be suboptimal. The optimal horizon can be specialized via measurements with much smaller efforts and cost than for the noise statistics required by EKF. Overall, EFIR filtering is more successful in accuracy and more robust than EKF under the uncertain conditions. Extensive investigations of the approach are conducted in applications to localization of mobile robot via triangulation and in radio frequency identification tag grids. Better performance of the EFIR filter is demonstrated in a comparison with the EKF. It is also shown that divergence in EKF is not only due to large nonlinearities and large noise as stated by the Kalman filter theory, but also due to errors in the noise covariances ignored by EFIR filter.

Short biography: Dr. Yuriy S. Shmaliy is a full professor in Electrical Engineering of the Universidad de Guanajuato, Mexico, since 1999. He received the B.S., M.S., and Ph.D. degrees in 1974, 1976 and 1982, respectively, from the Kharkiv Aviation Institute, Ukraine. In 1992 he received the Dr.Sc. (technical) degree from the Soviet Union Government. In March 1985, he joined the Kharkiv Military University. He serves as full professor beginning in 1986 and has a Certificate of Professor from the Ukrainian Government in 1993. In 1993, he founded and, by 2001, had been a director of the Scientific Center “Sichron” (Kharkiv, Ukraine) working in the field of precise time and frequency. His books Continuous-Time Signals (2006) and Continuous-Time Systems (2007) were published by Springer, New York. His book GPS-based Optimal FIR Filtering of Clock Models (2009) was published by Nova Science Publ., New York. He also edited a book Probability: Interpretation, Theory and Applications (Nova Science Publ., New York, 2012) and contributed to several books with invited chapters. Dr. Shmaliy has authored more than 300 Journal and Conference papers and 80 patents. He is IEEE Fellow; was rewarded a title, Honorary Radio Engineer of the USSR, in 1991; and was listed in Outstanding People of the 20th Century, Cambridge, England in 1999. He is currently an Associate Editor for Recent Patents on Space Technology. He serves on the Editorial Boards of several International Journals and is a member of the Organizing and Program Committees of various Int. Symposia. His current interests include statistical signal processing, optimal estimation, and stochastic system theory.