A Tracking Algorithm for Blind Navigation Based on Robust H Infinity Filter

Abstract:

This paper presents an algorithm for blind and visually impaired people to track their location. A precise positioning system utilizes UWB RFID tags for localization to mark points of interest. Given the joint estimation of TOA and DOA from blind person to station, a robust algorithm based on the extended filter is presented to accurately estimate their current location and moving velocity. This method is effective to the no-Gaussian or biased system model with unknown or not fully known observation error statistics.

• Periodical: Applied Mechanics and Materials (Volumes 448-453)
• Pages: 3580-3585
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.448-453.3580
• Online since: October 2013
• Authors: Fu Cheng Cao*, Guang Liang Cheng, Li Rong Wang
• Keywords: Blind Tracking, H Infinity Filter, Localization

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