単一UWBアンカーとIMUによる高精度位置追跡
Accurate position tracking with a single UWB anchor
単一のUWBアンカーと安価な9軸IMUのみを用い、UWB距離変化の連続監視で速度を推定しEKFでロボットの姿勢を高精度に追跡する手法を提案した。
著者: Yanjun Cao, Chenhao Yang, Rui Li, Alois Knoll, Giovanni Beltrame
分類: cs.RO
原文アブストラクト
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.
