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 · IEEE Robotics and Automation Letters · 2019
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.