モジュール型メッシュUWB支援慣性航法とロバストなアンカーキャリブレーション
Modular Meshed Ultra-Wideband Aided Inertial Navigation with Robust Anchor Calibration
UWB測距と慣性センサを統合するモジュール型状態推定フレームワークを提案し、新規アンカーの自律キャリブレーションと外れ値除去によりロバストな測位を実現した。
著者: Roland Jung, Luca Santoro, Davide Brunelli, Daniele Fontanelli, Stephan Weiss
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true modularity -- a perquisite for handling and processing meshed range measurements among a time-varying set of devices. In order to utilize these measurements in the estimation framework, positions of newly detected stationary devices (anchors) and the pairwise biases between the ranging devices are required. In this work an autonomous calibration procedure for new anchors is presented, that utilizes range measurements from multiple tags as well as already known anchors. To improve the robustness, an outlier rejection method is introduced. After the calibration is performed, the sensor fusion framework obtains initial beliefs of the anchor positions and dictionaries of pairwise biases, in order to fuse range measurements obtained from new anchors tightly-coupled. The effectiveness of the filter and calibration framework has been validated through evaluations on a recorded dataset and real-world experiments.
