Linear Bayesian Filter based Low-cost UWB Systems for Indoor Mobile Robot Localization

Zhang, Shuai; Han, Ruihua; Huang, Wankuan; Wang, Shuaijun; Hao, Qi

10.1109/ICSENS.2018.8589829

2018

21689229

978-1-5386-4708-0

2018 IEEE SENSORS

2018-October

423-426

28-31 Oct. 2018

New Delhi, India

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

In this paper, we propose an improved UWB based indoor localization system using Bayesian filtering techniques. The system contains two key components: (1) miniaturized, high updating rate and highly reconfigurable UWB sensors with a linear regression model to calibrate range measurement errors; (2) a set of Bayesian filters which can improve the localization precision by utilizing the spatial correlation between the stationary UWB base stations and the mobile UWB station. Furthermore, a novel measurement transform is proposed to reduce the computational complexity. Experiments are performed in an indoor environment with the ground truth obtained by the motion capture system to validate and evaluate the proposed indoor localization system.

Ultra-wideband (UWB) Bayesian Filter Indoor localization

第一 ; 通讯

英语

CPCI-S ; EI

Shenzhen Science and Technology Innovation Commission[GJHZ20170314114424152]

Engineering ; Remote Sensing

Engineering, Electrical & Electronic ; Remote Sensing

WOS:000468199300111

20190606463529

Broadband networks ; Costs ; Indoor positioning systems ; Regression analysis ; Robot applications

Radio Systems and Equipment:716.3 ; Robot Applications:731.6 ; Cost and Value Engineering; Industrial Economics:911 ; Mathematical Statistics:922.2

Web of Science

Southern Univ Sci & Technol, Dept Comp Sci & Engn, Shenzhen 518055, Guangdong, Peoples R China

Zhang, Shuai,Han, Ruihua,Huang, Wankuan,et al. Linear Bayesian Filter based Low-cost UWB Systems for Indoor Mobile Robot Localization[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2018:423-426.