6533b85cfe1ef96bd12bc9a7
RESEARCH PRODUCT
Localization in Structured Environments with UWB Devices without Acceleration Measurements, and Velocity Estimation Using a Kalman–Bucy Filter
Francesco AlongePasquale CusumanoFilippo D׳ippolitoGiovanni GarraffaPatrizia LivreriAntonino Sferlazzasubject
Kalman–Bucy filterrange-based localization without accelerometers; UWB; localization; velocity estimation; Kalman–Bucy filterUWBElectrical and Electronic Engineeringvelocity estimationBiochemistryInstrumentationRange-based localization without accelerometerAtomic and Molecular Physics and OpticslocalizationAnalytical Chemistrydescription
In this work, a novel scheme for velocity and position estimation in a UWB range-based localization system is proposed. The suggested estimation strategy allows to overcome two main problems typically encountered in the localization systems. The first one is that it can be suitable for use in environments where the GPS signal is not present or where it might fail. The second one is that no accelerometer measurements are needed for the localization task. Moreover, to deal with the velocity estimation problem, a suitable Kalman–Bucy filter is designed and it is compared, experimentally, with a particle filter by showing the features of the two algorithms in order to be used in a localization context. Additionally, further experimental tests are carried out on a suitable developed test setup in order to confirm the goodness of the proposed approach.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2022-08-22 |