Calibrating Away Inaccuracies in Ultra Wideband Range Measurements: A Maximum Likelihood Approach
dc.contributor.author
Ledergerber, Anton
dc.contributor.author
D'Andrea, Raffaello
dc.date.accessioned
2024-07-23T15:30:58Z
dc.date.available
2019-01-04T10:09:56Z
dc.date.available
2019-01-17T15:03:20Z
dc.date.available
2019-01-17T15:05:46Z
dc.date.available
2019-03-12T15:28:30Z
dc.date.available
2024-07-23T15:30:58Z
dc.date.issued
2018
dc.identifier.issn
2169-3536
dc.identifier.other
10.1109/access.2018.2885195
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/313688
dc.description.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.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.subject
Antenna measurements
en_US
dc.subject
Measurement uncertainty
en_US
dc.subject
Gaussian process
en_US
dc.subject
Ultra wideband antennas
en_US
dc.subject
Noise measurement
en_US
dc.subject
Data models
en_US
dc.subject
Ultra wideband technology
en_US
dc.subject
Maximum likelihood estimation
en_US
dc.subject
sensor fusion
en_US
dc.title
Calibrating Away Inaccuracies in Ultra Wideband Range Measurements: A Maximum Likelihood Approach
en_US
dc.type
Journal Article
dc.date.published
2018-12-05
ethz.journal.title
IEEE Access
ethz.journal.volume
6
en_US
ethz.pages.start
78719
en_US
ethz.pages.end
78730
en_US
ethz.grant
Extending the capabilities of small autonomous flying vehicles
en_US
ethz.identifier.wos
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
en_US
ethz.grant.agreementno
162365
ethz.grant.fundername
SNF
ethz.grant.funderDoi
10.13039/501100001711
ethz.grant.program
Projekte MINT
ethz.relation.continues
10.3929/ethz-b-000229319
ethz.date.deposited
2019-01-04T10:10:00Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2019-03-12T15:29:06Z
ethz.rosetta.lastUpdated
2025-02-14T12:20:27Z
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true
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true
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