Maximum Correntropy Criterion Kalman/Allan Variance-Assisted FIR Integrated Filter for Indoor Localization

To obtain more accurate information on using an inertial navigation system (INS)-based integrated localization system, an integrated filter with maximum correntropy criterion Kalman filter (mccKF) and finite impulse response (FIR) is proposed for the fusion of INS-based multisource sensor data in this work. In the realm of medical applications, precise localization is crucial for various aspects, such as tracking the movement of a medical instrument within the human body or monitoring its position in the human body during procedures. This study uses ultra-wideband (UWB) technology to rectify the position errors of the INS. In this method, the difference between the positions of the INS and UWB is used as the measurement of the filter. The main data fusion filter in this study is the mccKF, which utilizes the maximum correntropy criterion (mcc) method to enhance the robustness of the Kalman filter (KF). This filter is used for fusing data from multiple sources, including the INS. Moreover, we use the Mahalanobis distance to verify the performance of the mccKF. If the performance of the mccKF is lower than the preset threshold, the Allan Variance-assisted FIR filter is used to replace the mccKF, which is designed in this work. This adaptive approach ensures the resilience of the system in demanding medical environments. Two practical experiments were performed to evaluate the effectiveness of the proposed approach. The findings indicate that the mccKF/FIR integrated method reduces the localization error by approximately 32.43% and 37.5% compared with the KF and mccKF, respectively. These results highlight the effectiveness of the proposed approach.