Iterative Bias Estimation for an Ultra-Wideband Localization System
2020; Elsevier BV; Volume: 53; Issue: 2 Linguagem: Inglês
10.1016/j.ifacol.2020.12.1889
ISSN2405-8971
AutoresBas van der Heijden, Anton Ledergerber, Rajan Gill, Raffaello D’Andrea,
Tópico(s)Target Tracking and Data Fusion in Sensor Networks
ResumoAn iterative bias estimation framework is presented that mitigates position-dependent ranging errors often present in ultra-wideband localization systems. State estimation and control are integrated, such that the positioning accuracy improves over iterations. The framework is experimentally evaluated on a quadcopter platform, resulting in improvements in the tracking performance with respect to ground truth, and also smoothing the overall flight by significantly reducing unwanted oscillations; see https://youtu.be/J-htfbzf40U for a video.
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