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Range-Only UWB SLAM for Indoor Robot Localization Employing Multi-Interval EFIR Rauch-Tung-Striebel Smoother 被引量:1
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作者 Yanli Gao Wanfeng Ma +2 位作者 Jing Cao Jianling Qu Yuan Xu 《Computer Modeling in Engineering & Sciences》 SCIE EI 2022年第2期1221-1237,共17页
For improving the localization accuracy,a multi-interval extended finite impulse response(EFIR)-based Rauch-Tung-Striebel(R-T-S)smoother is proposed for the range-only ultra wide band(UWB)simultaneous localization and... For improving the localization accuracy,a multi-interval extended finite impulse response(EFIR)-based Rauch-Tung-Striebel(R-T-S)smoother is proposed for the range-only ultra wide band(UWB)simultaneous localization and mapping(SLAM)for robot localization.In this mode,the EFIR R-T-S(ERTS)smoother employs EFIR filter as the forward filter and the R-T-S smoothing method to smooth the EFIR filter’s output.When the east or the north position is considered as stance,the ERTS is used to smooth the position directly.Moreover,the estimation of the UWB Reference Nodes’(RNs’)position is smoothed by the R-T-S smooth method in parallel.The test illustrates that the proposedmulti-interval ERTS smoothing for range-only UWB SLAMis able to provide accurate estimation.Compared with the EFIR filter,the proposed method improves the localization accuracy by about 25.35%and 40.66%in east and north directions,respectively. 展开更多
关键词 Robot localization ultra wide band Rauch-Tung-Striebel smoother extended FIR filter
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