Calibrating Away Inaccuracies in Ultra Wideband Range Measurements: A Maximum Likelihood Approach
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Author / Producer
Date
2018
Publication Type
Journal Article
ETH Bibliography
yes
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Abstract
A calibration framework for an ultra-wideband localization system employing inertial measurement units is presented. No external motion capture system or other sensors are required for the calibration procedure. Given a covariance function for the error in the range measurements, a range measurement model based on a Gaussian process is obtained by maximizing the joint likelihood of angular rate, acceleration, and range measurements. The framework is experimentally evaluated, and it is shown how the resulting measurement model, integrated in a standard Kalman filter, can be used for real-time localization on a platform with limited computational resources. The calibration significantly improves the localization accuracy for randomly generated trajectories and different localization system setups.
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Publication status
published
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Editor
Book title
Journal / series
Volume
6
Pages / Article No.
78719 - 78730
Publisher
IEEE
Event
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Antenna measurements; Measurement uncertainty; Gaussian process; Ultra wideband antennas; Noise measurement; Data models; Ultra wideband technology; Maximum likelihood estimation; sensor fusion
Organisational unit
03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
Notes
Funding
162365 - Extending the capabilities of small autonomous flying vehicles (SNF)
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