{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T11:59:17Z","timestamp":1779883157139,"version":"3.53.1"},"reference-count":38,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2019,2,23]],"date-time":"2019-02-23T00:00:00Z","timestamp":1550880000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China NSFC","award":["U1504619, 61671139, 61473115"],"award-info":[{"award-number":["U1504619, 61671139, 61473115"]}]},{"name":"Scientific Technology Program of Henan Province, China","award":["182102110397"],"award-info":[{"award-number":["182102110397"]}]},{"name":"Science and Technology Programme Foundation for the Innovative Team of Henan Province University Grant","award":["18IRTSTHN011"],"award-info":[{"award-number":["18IRTSTHN011"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The key to successful positioning of autonomous mobile robots in complicated indoor environments lies in the strong anti-interference of the positioning system and accurate measurements from sensors. Inertial navigation systems (INS) are widely used for indoor mobile robots because they are not susceptible to external interferences and work properly, but the positioning errors may be accumulated over time. Thus ultra wideband (UWB) is usually adopted to compensate the accumulated errors due to its high ranging precision. Unfortunately, UWB is easily affected by the multipath effects and non-line-of-sight (NLOS) factor in complex indoor environments, which may degrade the positioning performance. To solve above problems, this paper proposes an effective system framework of INS\/UWB integrated positioning for autonomous indoor mobile robots, in which our modeling approach is simple to implement and a Sage\u2013Husa fuzzy adaptive filter (SHFAF) is proposed. Due to the favorable property (i.e., self-adaptive adjustment) of SHFAF, the difficult problem of time-varying noise in complex indoor environments is considered and solved explicitly. Moreover, outliers can be detected and corrected by the proposed sliding window estimation with fading coefficients. This facilitates the positioning performance improvement for indoor mobile robots. The benefits of what we propose are illustrated by not only simulations but more importantly experimental results.<\/jats:p>","DOI":"10.3390\/s19040950","type":"journal-article","created":{"date-parts":[[2019,2,25]],"date-time":"2019-02-25T03:06:52Z","timestamp":1551064012000},"page":"950","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":64,"title":["An Approach to Robust INS\/UWB Integrated Positioning for Autonomous Indoor Mobile Robots"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4121-5281","authenticated-orcid":false,"given":"Jianfeng","family":"Liu","sequence":"first","affiliation":[{"name":"School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiexin","family":"Pu","sequence":"additional","affiliation":[{"name":"School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lifan","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, China"},{"name":"School of Communication and Information Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zishu","family":"He","sequence":"additional","affiliation":[{"name":"School of Communication and Information Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,2,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Mostafa, M., Zahran, S., Moussa, A., El-Sheimy, N., and Sesay, A. 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