Indoor Vision/INS Integrated Mobile Robot Navigation Using Multimodel-Based Multifrequency Kalman Filter

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">Model</td><td class="align_center"><b><i>X</i></b></td><td class="align_center"><b><i>P</i></b></td><td class="align_center"><b><i>Q</i></b></td><td class="align_center"><b><i>R</i></b></td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">MKF</td><td class="align_center"><span style="width: 21.3387ptpx;"><svg height="11.7495pt" id="M101" style="vertical-align:-3.400681pt" version="1.1" viewbox="-0.0498162 -8.34882 21.3387 11.7495" width="21.3387pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.24,3.132)"><path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 227H88C155 336 218 430 282 519H284V227Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.672,3.132)"><path d="M547 55L345 261L547 468L508 508L306 301L104 508L65 468L267 261L65 55L104 14L306 221L508 14L547 55Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,16.232,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg></span></td><td class="align_center"><span style="width: 20.0077ptpx;"><svg height="11.8344pt" id="M102" style="vertical-align:-3.400761pt" version="1.1" viewbox="-0.0498162 -8.43364 20.0077 11.8344" width="20.0077pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M338 0V35C263 42 255 49 255 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xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M153 550H386L412 615L406 623H120L82 318C104 327 142 338 184 338C294 338 347 275 347 187C347 112 305 39 221 39C160 39 119 71 97 89C88 97 80 96 71 90C59 80 50 67 49 57C48 45 52 36 66 23C80 9 123 -12 169 -12C221 -11 288 15 342 59C403 109 431 165 431 225C431 308 366 395 238 395C212 395 165 379 127 364L153 550Z"></path></g><g transform="matrix(.013,0,0,-0.013,9.146,0)"><path d="M528 54L331 254L528 455L492 493L294 291L96 493L60 455L257 254L60 54L96 16L294 217L492 16L528 54Z"></path></g><g transform="matrix(.013,0,0,-0.013,19.682,0)"><path d="M338 0V35C263 42 255 49 255 133V516C255 602 263 608 338 615V650H37V615C112 608 121 602 121 516V133C121 49 112 42 37 35V0H338Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,24.615,3.132)"><path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 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23C80 9 123 -12 169 -12C221 -11 288 15 342 59C403 109 431 165 431 225C431 308 366 395 238 395C212 395 165 379 127 364L153 550Z"></path></g><g transform="matrix(.013,0,0,-0.013,6.24,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,15.386,0)"><path d="M528 54L331 254L528 455L492 493L294 291L96 493L60 455L257 254L60 54L96 16L294 217L492 16L528 54Z"></path></g><g transform="matrix(.013,0,0,-0.013,25.922,0)"><path d="M338 0V35C263 42 255 49 255 133V516C255 602 263 608 338 615V650H37V615C112 608 121 602 121 516V133C121 49 112 42 37 35V0H338Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,30.855,3.132)"><path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 227H88C155 336 218 430 282 519H284V227Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,35.286,3.132)"><path d="M547 55L345 261L547 468L508 508L306 301L104 508L65 468L267 261L65 55L104 14L306 221L508 14L547 55Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,40.847,3.132)"><path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 227H88C155 336 218 430 282 519H284V227Z"></path></g></svg></span></td></tr><tr><td class="align_left">MKF with multimodel method</td><td class="align_center"><span style="width: 21.3387ptpx;"><svg height="11.7495pt" id="M105" style="vertical-align:-3.400681pt" version="1.1" viewbox="-0.0498162 -8.34882 21.3387 11.7495" width="21.3387pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.24,3.132)"><path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 227H88C155 336 218 430 282 519H284V227Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.672,3.132)"><path d="M547 55L345 261L547 468L508 508L306 301L104 508L65 468L267 261L65 55L104 14L306 221L508 14L547 55Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,16.232,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg></span></td><td class="align_center"><span style="width: 20.0077ptpx;"><svg height="11.8344pt" id="M106" style="vertical-align:-3.400761pt" version="1.1" viewbox="-0.0498162 -8.43364 20.0077 11.8344" width="20.0077pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g 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Mathematical Problems in Engineering

tab2

Table 2

Table 2: Indoor Vision/INS Integrated Mobile Robot Navigation Using Multimodel-Based Multifrequency Kalman Filter 