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R-T-S Assisted Kalman Filtering for Robot Localization Using UWB Measurement

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Abstract

The schematic robot locating employing Rauch-Tung-Striebel smoothing (RTSS) assisted extended Kalman filter (EKF) for fusing the ultra wide band (UWB)-based range measurements is proposed to improve the localization accuracy in this paper. The proposed method includes two main steps: the first one is EKF, which is used to estimate the positions of the mobile robot and UWB reference nodes (RNs), and the second one is RTSS, which is used to smoothen EKF output to get better reference nodes positions. The results of the real test indicate that when compared with the EKF filter, the proposed RTSS assisted EKF can improve the positioning accuracy of the mobile robot and UWB RNs respectively.

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Acknowledgments

This work was supported in part by 1) the National Key R&D Program of China 2018AAA0101703, 2)the Shandong Key Research and Development Program under Grant 2019GGX104026, 3)the National Natural Science Foundation of China under Grants 61803175.

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Authors and Affiliations

  1. School of Electrical Engineering, University of Jinan, Jinan, 250022, China

    Mingxu Sun & Yuan Xu

  2. Naval Aviation University Qingdao Branch, Qingdao, 266000, China

    Yanli Gao

  3. School of Computer Science and Artificial Intelligence, Changzhou University, Changzhou, China

    Zhuqing Jiao

  4. State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, 129 Luoyu Road, Wuhan, 430079, China

    Yuan Zhuang

  5. School of Artificial Intelligence and Computer Science, Jiangnan University, Wuxi, 214122, China

    Pengjiang Qian

Authors
  1. Mingxu Sun
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  2. Yanli Gao
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  3. Zhuqing Jiao
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  4. Yuan Xu
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  5. Yuan Zhuang
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Corresponding authors

Correspondence to Yuan Zhuang or Pengjiang Qian.

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M. Sun and Y. Xu contribute equally to the article

This work was supported in part by 1) the National Key R&D Program of China 2018AAA0101703, 2)the Shandong Key Research and Development Program under Grant 2019GGX104026, 3)the National Natural Science Foundation of China under Grants 61803175.

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Sun, M., Gao, Y., Jiao, Z. et al. R-T-S Assisted Kalman Filtering for Robot Localization Using UWB Measurement. Mobile Netw Appl (2022). https://doi.org/10.1007/s11036-021-01902-6

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  • DOI: https://doi.org/10.1007/s11036-021-01902-6

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