A state estimator is derived for an agent with the ability to measure single ranges to fixed points in its environment, and equipped with an accelerometer and a rate gyroscope. The state estimator makes no agent-specific assumptions, and can be immediately applied to any rigid body with these sensors. Also, the state estimator doesn't use any trilateration-based method to calculate position from range measurements. As the considered system can only make a single range measurement at a time, we present a greedy optimization algorithm for selecting the best measurement. Experiments in an indoor testbed using an externally controlled multicopter demonstrate the efficacy of the algorithm, specifically showing an improvement over a naïve strategy of a fixed sequence of measurements. In separate experiments, the algorithm is also used in feedback control, to control the position of the multicopter.


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    Title :

    Optimal measurement selection algorithm and estimator for ultra-wideband symmetric ranging localization


    Contributors:


    Publication date :

    2018-06-01


    Size :

    9228547 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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