ArticleSensors (Basel, Switzerland)2021
NR-UIO: NLOS-Robust UWB-Inertial Odometry Based on Interacting Multiple Model and NLOS Factor Estimation.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
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Who cites it
1 citing paper in PubMed.
- Fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLS.Scientific reports · 2023Article
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Authors and funding
2 authors.
Funding
Abstract
Recently, technology utilizing ultra-wideband (UWB) sensors for robot localization in an indoor environment where the global navigation satellite system (GNSS) cannot be used has begun to be actively studied. UWB-based positioning has the advantage of being able to work even in an environment lacking feature points, which is a limitation of positioning using existing vision- or LiDAR-based sensing. However, UWB-based positioning requires the pre-installation of UWB anchors and the precise location of coordinates. In addition, when using a sensor that measures only the one-dimensional distance between the UWB anchor and the tag, there is a limitation whereby the position of the robot is solved but the orientation cannot be acquired. To overcome this, a framework based on an interacting multiple model (IMM) filter that tightly integrates an inertial measurement unit (IMU) sensor and a UWB sensor is proposed in this paper. However, UWB-based distance measurement introduces large errors in multipath environments with obstacles or walls between the anchor and the tag, which degrades positioning performance. Therefore, we propose a non-line-of-sight (NLOS) robust UWB ranging model to improve the pose estimation performance. Finally, the localization performance of the proposed framework is verified through experiments in real indoor environments.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.