Improving the Accuracy and Robustness of Ultra-Wideband Localization Through Sensor Fusion and Outlier Detection

被引：21

作者：

Dwek, Nathan ^{[1
]}

Birem, Merwan ^{[1
]}

Geebelen, Kurt ^{[1
]}

Hostens, Erik ^{[1
]}

Mishra, Anurodh ^{[1
]}

Steckel, Jan ^{[2
,3
]}

Yudanto, Risang ^{[1
]}

机构：

[1] Flanders Make Strateg Res Ctr, Decis Core Lab, B-3001 Leuven, Belgium

[2] Univ Antwerp, FTI CoSys Lab, B-2000 Antwerp, Belgium

[3] Flanders Make Strateg Res Ctr Belgium, Lommel, Belgium

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2020年 / 5卷 / 01期

关键词：

Localization; Sensor Fusion; Outlier Detection; Range Sensing; Ultra-wideband; MITIGATION; SYSTEMS;

D O I：

10.1109/LRA.2019.2943821

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This article presents sensor fusion techniques for ultra-wideband-based localization to achieve sufficient accuracy and robustness for the control of vehicles in an industrial environment. We propose two outlier detection methods in combination with an extended Kalman Filter, and present experimental validation where 10 & x00A0;cm accuracy is achieved even in difficult NLOS conditions.

引用

页码：32 / 39

页数：8

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