Range-Only UWB SLAM for Indoor Robot Localization Employing Multi-Interval EFIR Rauch-Tung-Striebel Smoother
  • Yanli Gao1, Wanfeng Ma2, Jing Cao2, Jianling Qu1 and Yuan Xu2,3,*
1Qingdao Branch of Naval Aviation University, Qingdao, 266000, China
2School of Electrical Engineering, University of Jinan, Jinan, 250022, China
3Shandong Beiming Medical Technology Co., Ltd., Jinan, 250022, China
* Corresponding Author: Yuan Xu. Email: xy_abric@126.com
(This article belongs to this Special Issue:Advanced on Modeling and State Estimation for Industrial Processes)
Received 18 May 2021; Accepted 11 August 2021 ; Published online 08 October 2021
Abstract
For improving the localization accuracy, a multi-interval extended finite impulse response (EFIR)-based RauchTung-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 proposed multi-interval ERTS smoothing for range-only UWB SLAM is 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
Keywords
Robot localization; ultra wide band; Rauch-Tung-Striebel smoother; extended FIR filter