Range-Only UWB SLAM for Indoor Robot Localization Employing Multi-Interval EFIR Rauch-Tung-Striebel Smoother

作     者：Yanli Gao Wanfeng Ma Jing Cao Jianling Qu Yuan Xu 

作者机构：Qingdao Branch of Naval Aviation UniversityQingdao266000China School of Electrical EngineeringUniversity of JinanJinan250022China Shandong Beiming Medical Technology Co.Ltd.Jinan250022China 

出 版 物：《Computer Modeling in Engineering & Sciences》 (工程与科学中的计算机建模（英文）)

年 卷 期：2022年第130卷第2期

页      面：1221-1237页

核心收录：

学科分类：0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 

基　　金：The Methodist Hospital Foundation 

主　　题：Robot localization ultra wide band Rauch-Tung-Striebel smoother extended FIR filter 

摘      要：For improving the localization accuracy,a multi-interval extended finite impulse response(EFIR)-based Rauch-Tung-Striebel(R-T-S)smoother is proposed for the range-only ultra wide band(UWB)simultaneous localization and mapping(SLAM)for robot *** this mode,the EFIR R-T-S(ERTS)smoother employs EFIR filter as the forward filter and the R-T-S smoothing method to smooth the EFIR filter’s *** the east or the north position is considered as stance,the ERTS is used to smooth the position ***,the estimation of the UWB Reference Nodes’(RNs’)position is smoothed by the R-T-S smooth method in *** test illustrates that the proposedmulti-interval ERTS smoothing for range-only UWB SLAMis able to provide accurate *** with the EFIR filter,the proposed method improves the localization accuracy by about 25.35%and 40.66%in east and north directions,respectively.