DC Field | Value | Language |
---|---|---|
dc.contributor.author | Hyun, J. | ko |
dc.contributor.author | Myung, Hyun | ko |
dc.date.accessioned | 2021-12-23T06:42:14Z | - |
dc.date.available | 2021-12-23T06:42:14Z | - |
dc.date.created | 2021-12-23 | - |
dc.date.created | 2021-12-23 | - |
dc.date.created | 2021-12-23 | - |
dc.date.issued | 2021-11 | - |
dc.identifier.citation | SENSORS, v.21, no.23, pp.7886 - 7902 | - |
dc.identifier.issn | 1424-8220 | - |
dc.identifier.uri | http://hdl.handle.net/10203/290977 | - |
dc.description.abstract | Recently, technology utilizing ultra-wideband (UWB) sensors for robot localization in an indoor environment where the global navigation satellite system (GNSS) cannot be used has begun to be actively studied. UWB-based positioning has the advantage of being able to work even in an environment lacking feature points, which is a limitation of positioning using existing vision-or LiDAR-based sensing. However, UWB-based positioning requires the pre-installation of UWB anchors and the precise location of coordinates. In addition, when using a sensor that measures only the one-dimensional distance between the UWB anchor and the tag, there is a limitation whereby the position of the robot is solved but the orientation cannot be acquired. To overcome this, a framework based on an interacting multiple model (IMM) filter that tightly integrates an inertial measurement unit (IMU) sensor and a UWB sensor is proposed in this paper. However, UWB-based distance measurement introduces large errors in multipath environments with obstacles or walls between the anchor and the tag, which degrades positioning performance. Therefore, we propose a non-line-of-sight (NLOS) robust UWB ranging model to improve the pose estimation performance. Finally, the localization performance of the proposed framework is verified through experiments in real indoor environments. © 2021 by the authors. Licensee MDPI, Basel, Switzerland. | - |
dc.language | English | - |
dc.publisher | MDPI | - |
dc.title | NR-UIO: NLOS-robust UWB-inertial odometry based on interacting multiple model and NLOS factor estimation | - |
dc.type | Article | - |
dc.identifier.wosid | 000735109000001 | - |
dc.identifier.scopusid | 2-s2.0-85119720207 | - |
dc.type.rims | ART | - |
dc.citation.volume | 21 | - |
dc.citation.issue | 23 | - |
dc.citation.beginningpage | 7886 | - |
dc.citation.endingpage | 7902 | - |
dc.citation.publicationname | SENSORS | - |
dc.identifier.doi | 10.3390/s21237886 | - |
dc.contributor.localauthor | Myung, Hyun | - |
dc.description.isOpenAccess | Y | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | IMM | - |
dc.subject.keywordAuthor | IMU | - |
dc.subject.keywordAuthor | NLOS | - |
dc.subject.keywordAuthor | Odometry | - |
dc.subject.keywordAuthor | UWB | - |
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