A Robust Position Estimation Algorithm under Unusual Large Range Errors

Title
A Robust Position Estimation Algorithm under Unusual Large Range Errors
Authors
김도익김정희이지양김문기핫산 니가투
Keywords
position estimation; range error; uwb
Issue Date
2019-10
Publisher
IEEE RO-MAN 2019
Abstract
This paper provides a robust fusion algorithm for accurate position estimation under uncertain large errors in range measurements. Many researchers have studied UWB, IMU, odometry integration algorithms for estimating position, velocity, attitude and IMU biases. However, the fused results of these conventional algorithms are likely to be affected by the unusual ranging measurement errors. Therefore, in order to improve the positioning accuracy under the large errors of the UWB range, a robust fusion algorithm is required. In this paper, instead of using the range directly, the estimated range that the errors is reduced is used. Reducing the errors is possible by using the odometry velocity that is relatively accurate and is independent of range measurement. The robustness and accuracy of the proposed algorithm is verified by a mobile robot with real-time positioning and trajectory control under large range errors which are occurred randomly.
URI
http://pubs.kist.re.kr/handle/201004/70110
ISSN
-
Appears in Collections:
KIST Publication > Conference Paper
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