Evaluation of the applicability of state estimation filters for indoor robot positioning

  • Dang Minh Duc VNU University of Engineering and Technology
  • Nguyen Tan Phong VNU University of Engineering and Technology
  • Pham Viet Quang VNU University of Engineering and Technology
  • Ngo Gia Long VNU University of Engineering and Technology
  • Vu Nhat Quang VNU University of Engineering and Technology
  • Nguyen Minh Duc VNU University of Engineering and Technology
  • Dinh Thi Thai Mai VNU University of Engineering and Technology
DOI: https://doi.org/10.21553/rev-jec.445

Abstract

Indoor robot positioning plays an important role in ensuring autonomous navigation in smart environments where Global Positioning System (GPS) signals are unavailable. Ultra-Wideband (UWB) technology offers high accuracy and multipath interference resistance, providing a suitable foundation for indoor positioning systems. Therefore, this study focuses on evaluating the performance of three state estimation algorithms---the Extended Kalman Filter (EKF), the Unscented Kalman Filter (UKF), and the Particle Filter (PF)---in handling nonlinear models of positioning systems based on UWB.The results show that the EKF has advantages in processing speed and low computational cost, making it suitable for real-time systems, though it remains sensitive to noise and highly nonlinear models. The UKF demonstrates a balance between estimation accuracy and computational efficiency due to its ability to provide reliable estimates under nonlinear conditions without increasing computational cost. The PF offers high stability and the ability to handle non-Gaussian noise; however, it requires significant computational resources, especially when the number of particles is large.

Author Biographies

Dang Minh Duc, VNU University of Engineering and Technology
is currently a third-year undergraduate student majoring in Electronic and Telecommunications Engineering (Class QH-2023-I/CQ-E-EC1) at the Faculty of Electronics and Telecommunications, VNU-UET. He is a member of the Telecommunications Systems Laboratory. His research interests include Internet of Things and embedded systems.
Nguyen Tan Phong, VNU University of Engineering and Technology
received B.E degree in Aerospace Engineering from School of Aerospace Engineering UET-VNU, He is currently pursuing the master's degree in Electronics Engineering from VNU University of Engineering and Technology, Hanoi, Vietnam. His research interests focus on robotic multisensor integrated Navigation and IPS system using UWB technology.
Pham Viet Quang, VNU University of Engineering and Technology
is currently an undergraduate student majoring in Electronics and Telecommunications Engineering at University of Engineering and Technology, Vietnam National University, Hanoi, Vietnam.His research interests focus on Ultra-Wideband (UWB) technology and its applications in wireless communication and localization systems.
Ngo Gia Long, VNU University of Engineering and Technology
was born in Hai Phong, Vietnam. He is currently pursuing the B.E. degree in electronics and telecommunications with the VNU University of Engineering and Technology, Vietnam National University, Hanoi, Vietnam. His current research interests include autonomous vehicle localization.
Vu Nhat Quang, VNU University of Engineering and Technology
is currently pursuing the B.E. degree in Electronics and Telecommunications with the University of Engineering and Technology (UET), Vietnam National University, Hanoi (VNU), Vietnam. His research interests include embedded systems and wireless localization.
Nguyen Minh Duc, VNU University of Engineering and Technology
is a senior working toward a B.S Degree at VNU University of Engineering and Technology. He is a member of the Telecommunication Systems Laboratory at VNU University of Engineering and Technology. His research interests include Localization techniques and wireless communication.
Dinh Thi Thai Mai, VNU University of Engineering and Technology
received Bachelor of Electronics and Telecommunications from Post and Telecommunications Institution of Technology and Master degree of Information, Systems and Telecommunications from Paris Sud 11 (aka Paris Saclay) in 2006 and 2008, respectively. Currently, she is the Head of the Department of Telecommunications Systems, Faculty of Electronics and Telecommunications, VNU University of Engineering and Technology (VNU-UET), Hanoi, Vietnam.Her research interests focus on next-generation mobile networks (5G/6G), wireless communications, localization techniques, and security in Software-Defined Networking (SDN). Assoc. Prof. Mai is an IEEE Member and an active member of the Radio & Electronics Association of Vietnam (REV). She regularly serves as a Technical Program Committee (TPC) member and reviewer for prestigious IEEE conferences and high-impact journals in the fields of wireless communications and networking.

References

M. V. Gamarra, S. Papaharalabos, F. Rezaei, D. Bartlett and P. Karlsson, “Seamless Indoor and Outdoor Positioning with Hybrid Bluetooth AoA and GNSS Signals,” 2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN), Nuremberg, Germany, 2023, pp. 1–6, doi: 10.1109/IPIN57070.2023.10332476.

Y.-F. Huang, G.-Y. Chen, J.-W. J. Liao, W.-M. Cheng and C.-Y. Yang, “The Impact of NLOS Channels on Performance of UWB Multi-Anchor for 3D Indoor Positioning,” 2024 International Symposium on Intelligent Signal Processing and Communication Systems (ISPACS), Kaohsiung, Taiwan, 2024, pp. 1–3, doi: 10.1109/ISPACS62486.2024.10869074.

R. Joseph and S. B. Sasi, “Indoor Positioning Using WiFi Fingerprint,” 2018 International Conference on Circuits and Systems in Digital Enterprise Technology (ICCSDET), Kottayam, India, 2018, pp. 1–3, doi: 10.1109/ICCSDET.2018.8821184.

M. Mallick, X. Tian and J. Liu, “Evaluation of Measurement Converted KF, EKF, UKF, CKF, and PF in GMTI Filtering,” 2021 International Conference on Control, Automation and Information Sciences (ICCAIS), Xi'an, China, 2021, pp. 21–27, doi: 10.1109/ICCAIS52680.2021.9624559.

L. Wei, W. Jian, Y. Lei and S. Ziyang, “Optimization of Outdoor Long-Range Localization Algorithm Based on DS-TWR,” 2023 5th International Conference on Intelligent Control, Measurement and Signal Processing (ICMSP), Chengdu, China, 2023, pp. 1113–1117, doi: 10.1109/ICMSP58539.2023.10170886.

S. M. Moosavi and S. Ghassabian, “Linearity of calibration curves for analytical methods: A review of criteria for assessment of method reliability,” in Calibration and Validation of Analytical Methods – A Sampling of Current Approaches. London, U.K.: IntechOpen, 2018.

X. Du, “High Precision Indoor Positioning Management System for Hospital Person and Equipment Based on UWB/BLE Fusion,” 2024 5th International Conference on Artificial Intelligence and Computer Engineering (ICAICE), Wuhu, China, 2024, pp. 741–745, doi: 10.1109/ICAICE63571.2024.10864231.

D. Feng, C. Wang, C. He, Y. Zhuang and X.-G. Xia, “Kalman-Filter-Based Integration of IMU and UWB for High-Accuracy Indoor Positioning and Navigation,” IEEE Internet of Things Journal, vol. 7, no. 4, pp. 3133–3146, April 2020, doi: 10.1109/JIOT.2020.2965115.

G. Revach, N. Shlezinger, X. Ni, A. L. Escoriza, R. J. G. van Sloun and Y. C. Eldar, “KalmanNet: Neural Network Aided Kalman Filtering for Partially Known Dynamics,” IEEE Transactions on Signal Processing, vol. 70, pp. 1532–1547, 2022, doi: 10.1109/TSP.2022.3158588.

N.-S. Duong, M.-T. Vu, M.-D. Nguyen and T.-M. D. Thi, “Experimental validation of positioning and tracking system using ultra-wideband and low-cost microcontroller units,” TELKOMNIKA (Telecommunication, Computing, Electronics and Control), vol. 23, no. 5, 2025, doi: 10.12928/telkomnika.v23i5.26707.

Published
2026-07-06
Issue
Accepted articles
Section
REV-ECIT Special Issue
An author's submission implies that the manuscript has not been published previously, and is not currently submitted for publication elsewhere. Submission also implies that the Corresponding Author has consent of all authors (the Authors). Upon acceptance for publication transfer of copyright will be made to the Publisher of REV-JEC, who guarantees that full content of the published article is freely distributed on the Journal's website. The copyright transfer gives the Publisher of REV-JEC full authority to resolve any complaints of misuse or abuse (such as infringement or plagiarism) of the published article. The Authors have the freedom to redistribute and reuse the published article in any medium or format for any purpose, provided the original published article is properly cited. An article submission implies author agreement with this policy.