Research Article

Evaluation on Nonholonomic Constraints and Rauch–Tung–Striebel Filter-Enhanced UWB/INS Integration

Figure 1

Algorithm structure of proposed UWB/INS/NHC/RTS integration; RTS, NHC, and RLS denote, respectively, Rauch–Tung–Striebel smoother, nonholonomic constraint, and robust least square.