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Observation-augmented EKF Based Local 3-D Localization Method for Moving Target
Pan S(潘思)1,2,3; Gu F(谷丰)1; Di CL(狄春雷)1; Yang LY(杨丽英)1; He YQ(何玉庆)1
Department机器人学研究室
Conference Name5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020
Conference DateDecember 18-21, 2020
Conference PlaceShenzhen, China
Author of SourceAnhui Robotics Society ; Artificial Intelligence and Robotics Association of Guangdong Province ; Deltason ; IEEE/CAA Journal of Automatica Sinica
Source PublicationICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
PublisherIEEE
Publication PlaceDecember 2020
2020
Pages658-665
Indexed ByEI
EI Accession number20204209366991
Contribution Rank1
ISBN978-1-7281-6479-3
AbstractHigh accuracy and frequency local localization is the key technology of unmanned aerial vehicles (UAVs) in the confined areas and complicated conditions such as indoor flight, landing on ship deck and flight in GPS-denied environments and so on. In this paper, based on ultra-wideband (UWB) technique an observation-augmented EKF based local 3-D localization method is proposed for improving the accuracy when a moving target is tracked. In the first, a weighted least square (WLS) localization algorithm is proposed based on range measurements for improving the accuracy of 3-D localization. In the second, the position estimated by WLS is taken as partial measurements in an Extended Kalman Filter (EKF) to achieve the localization of a moving target so that the observation of the system is augmented and the accuracy is thus improved. Besides that, the ranging error model is analyzed with P440, a commercial UWB range sensor. Based on the result, the simulations are conducted to validate of the proposed method and the results show that the localization accuracy of the proposed method is greatly improved without remarkable computational complexity.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/27760
Collection机器人学研究室
Corresponding AuthorPan S(潘思)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Pan S,Gu F,Di CL,et al. Observation-augmented EKF Based Local 3-D Localization Method for Moving Target[C]//Anhui Robotics Society, Artificial Intelligence and Robotics Association of Guangdong Province, Deltason, IEEE/CAA Journal of Automatica Sinica. December 2020:IEEE,2020:658-665.
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