ArticleSensors (Basel, Switzerland)2019
An Approach to Robust INS/UWB Integrated Positioning for Autonomous Indoor Mobile Robots.
Article in Sensors (Basel, Switzerland), 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers.
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Who cites it
12 citing papers in PubMed.
- Consensus-Based Information Filtering in Distributed LiDAR Sensor Network for Tracking Mobile Robots.Sensors (Basel, Switzerland) · 2024Article
- Ad Hoc Mesh Network Localization Using Ultra-Wideband for Mobile Robotics.Sensors (Basel, Switzerland) · 2024Article
- A Fusion Strategy for Vehicle Positioning at Intersections Utilizing UWB and Onboard Sensors.Sensors (Basel, Switzerland) · 2024Article
- Examination of the Accuracy of Movement Tracking Systems for Monitoring Exercise for Musculoskeletal Rehabilitation.Sensors (Basel, Switzerland) · 2023Article
- A Survey of Robot Swarms' Relative Localization Method.Sensors (Basel, Switzerland) · 2022Review
- Analysis and Improvement of Indoor Positioning Accuracy for UWB Sensors.Sensors (Basel, Switzerland) · 2021Article
- Ultra-Wideband Positioning Sensor with Application to an Autonomous Ultraviolet-C Disinfection Vehicle.Sensors (Basel, Switzerland) · 2021Article
- In-Field Calibration of Triaxial Accelerometer Basedon Beetle Swarm Antenna Search Algorithm.Sensors (Basel, Switzerland) · 2020Article
- A Novel Cooperative Localization Method Based on IMU and UWB.Sensors (Basel, Switzerland) · 2020Article
- A Meta-Review of Indoor Positioning Systems.Sensors (Basel, Switzerland) · 2019Review
- An Extensible Positioning System for Locating Mobile Robots in Unfamiliar Environments.Sensors (Basel, Switzerland) · 2019Article
- Modelling and Control of Mechatronics Lines Served by Complex Autonomous Systems.Sensors (Basel, Switzerland) · 2019Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
The key to successful positioning of autonomous mobile robots in complicated indoor environments lies in the strong anti-interference of the positioning system and accurate measurements from sensors. Inertial navigation systems (INS) are widely used for indoor mobile robots because they are not susceptible to external interferences and work properly, but the positioning errors may be accumulated over time. Thus ultra wideband (UWB) is usually adopted to compensate the accumulated errors due to its high ranging precision. Unfortunately, UWB is easily affected by the multipath effects and non-line-of-sight (NLOS) factor in complex indoor environments, which may degrade the positioning performance. To solve above problems, this paper proposes an effective system framework of INS/UWB integrated positioning for autonomous indoor mobile robots, in which our modeling approach is simple to implement and a Sage⁻Husa fuzzy adaptive filter (SHFAF) is proposed. Due to the favorable property (i.e., self-adaptive adjustment) of SHFAF, the difficult problem of time-varying noise in complex indoor environments is considered and solved explicitly. Moreover, outliers can be detected and corrected by the proposed sliding window estimation with fading coefficients. This facilitates the positioning performance improvement for indoor mobile robots. The benefits of what we propose are illustrated by not only simulations but more importantly experimental results.
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Registered trials
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