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Multi-source positioning information fusion method based on improved robust Kalman filter.

Weiwei Lin1, Jiajun Wang1, Xiaoling Wang1

  • 1State Key Laboratory of Hydraulic Engineering Intelligent Construction and Operation, Tianjin University, Tianjin 300350, China.

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|July 13, 2025
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Summary
This summary is machine-generated.

This study introduces a robust Kalman filter for multi-source positioning, enhancing accuracy in challenging environments like deep valleys. The method improves data reliability and reduces localization errors for construction machinery.

Keywords:
Earth-rockfill damImproved robust Kalman filterMulti-source positioning information fusion methodRandom noise interference

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Area of Science:

  • Geomatics Engineering
  • Robotics
  • Signal Processing

Background:

  • Accurate positioning is crucial for rolling machinery in construction.
  • Deep and narrow valleys present significant challenges due to noise interference.

Purpose of the Study:

  • To develop a multi-source positioning fusion method to enhance accuracy in harsh environments.
  • To improve the robustness and reliability of real-time monitoring data.

Main Methods:

  • An improved robust Kalman filter incorporating a thick tail Laplace distribution.
  • Adaptive selection of optimal observations from Global Navigation Satellite System (GNSS), Robotic Total Station (RTS), and Ultra Wide Band (UWB).
  • Dynamic adjustment of noise covariance to handle large random errors.

Main Results:

  • The method effectively compensates for data offset and loss (over 97.33%).
  • Localization offset rates were reduced by 7.72%, and loss rates by 1.64% compared to single-method approaches.
  • Demonstrated adaptability in complex, harsh environments like deep river valleys.

Conclusions:

  • The proposed fusion method significantly enhances the robustness, accuracy, and completeness of real-time monitoring.
  • The improved Kalman filter effectively mitigates noise interference and improves data fusion in challenging terrains.
  • This approach offers a reliable solution for precise positioning of rolling machinery in difficult construction settings.