INS/UWB-Based Quadrotor Localization Under Colored Measurement Noise

Data fusion in the quadrotor integrated navigation system combining information from the inertial navigation system (INS) and ultra wide band (UWB)-based system is provided in the presence of the UWB-induced colored measurement noise (CMN). To improve the localization performance under the CMN, we modify the fusion Kalman filter (KF) to be cKF and the unbiased finite impulse response (UFIR) filter to be cUFIR filter. The cKF and cUFIR filter are derived using measurement differencing and by de-correlating noise vectors. The original and modified filters are tested in the best and worst cases of tuning parameters. Based on test measurements without the ground truth, it is shown that the cKF improves the performance in the best case, but loses to the KF in the worst case due to a higher sensitivity to errors in the noise covariances. It is also shown that the cUFIR filter is more robust and thus more suitable than the cKF and KF for quadrotor localization under the industrial conditions.