论文标题
单个UWB锚点的准确位置跟踪
Accurate position tracking with a single UWB anchor
论文作者
论文摘要
准确的本地化和跟踪是机器人应用的基本要求。诸如GPS，光学跟踪，同时定位和映射（SLAM）之类的本地化系统用于日常生活活动，研究和商业应用。 Ultra Wideband（UWB）技术提供了另一个地方，可以准确地在室内和室外找到设备。在本文中，我们研究了具有单个UWB锚的本地化解决方案，而不是传统的多锚设置。除了单个UWB范围的挑战外，我们唯一需要的其他传感器是低成本9 DOF惯性测量单元（IMU）。在这样的配置下，我们建议对UWB范围的连续监视更改，以估计在行驶时的机器人速度。将速度估计与IMU传感器的定向估计相结合，系统在时间上可以观察到。我们使用扩展的卡尔曼滤波器（EKF）来估计机器人的姿势。借助我们的解决方案，我们可以有效地纠正累积误差并保持移动机器人的准确跟踪。
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and commercial applications. Ultra-wideband (UWB) technology provides another venue to accurately locate devices both indoors and outdoors. In this paper, we study a localization solution with a single UWB anchor, instead of the traditional multi-anchor setup. Besides the challenge of a single UWB ranging source, the only other sensor we require is a low-cost 9 DoF inertial measurement unit (IMU). Under such a configuration, we propose continuous monitoring of UWB range changes to estimate the robot speed when moving on a line. Combining speed estimation with orientation estimation from the IMU sensor, the system becomes temporally observable. We use an Extended Kalman Filter (EKF) to estimate the pose of a robot. With our solution, we can effectively correct the accumulated error and maintain accurate tracking of a moving robot.
