Improving the Accuracy and Robustness of Ultra-Wideband Localization Through Sensor Fusion and Outlier Detection

Nathan Dwek; Merwan Birem; Kurt Geebelen; Erik Hostens; Anurodh Mishra; Jan Steckel; Risang Gatot Yudanto

RA-L 202031 citations

Improving the Accuracy and Robustness of Ultra-Wideband Localization Through Sensor Fusion and Outlier Detection

Nathan Dwek, Merwan Birem, Kurt Geebelen, Erik Hostens, Anurodh Mishra, Jan Steckel, Risang Gatot Yudanto

Abstract

This article presents sensor fusion techniques for ultra-wideband-based localization to achieve sufficient accuracy and robustness for the control of vehicles in an industrial environment. We propose two outlier detection methods in combination with an extended Kalman Filter, and present experimental validation where 10 cm accuracy is achieved even in difficult NLOS conditions.

BibTeX

@inproceedings{ral2020_improvingtheaccu,
  title = {Improving the Accuracy and Robustness of Ultra-Wideband Localization Through Sensor Fusion and Outlier Detection},
  author = {Nathan Dwek and Merwan Birem and Kurt Geebelen and Erik Hostens and Anurodh Mishra and Jan Steckel and Risang Gatot Yudanto},
  booktitle = {RA-L 2020},
  year = {2020}
}