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- Title
Precise Positioning of Autonomous Vehicles Combining UWB Ranging Estimations with On-Board Sensors.
- Authors
San Martín, Javier; Cortés, Ainhoa; Zamora-Cadenas, Leticia; Svensson, Bo Joel
- Abstract
In this paper, we analyze the performance of a positioning system based on the fusion of Ultra-Wideband (UWB) ranging estimates together with odometry and inertial data from the vehicle. For carrying out this data fusion, an Extended Kalman Filter (EKF) has been used. Furthermore, a post-processing algorithm has been designed to remove the Non Line-Of-Sight (NLOS) UWB ranging estimates to further improve the accuracy of the proposed solution. This solution has been tested using both a simulated environment and a real environment. This research work is in the scope of the PRoPART European Project. The different real tests have been performed on the AstaZero proving ground using a Radio Control car (RC car) developed by RISE (Research Institutes of Sweden) as testing platform. Thus, a real time positioning solution has been achieved complying with the accuracy requirements for the PRoPART use case.
- Subjects
AUTONOMOUS vehicles; RADIO controlled cars; KALMAN filtering; ALGORITHMS; MULTISENSOR data fusion; DYNAMIC positioning systems
- Publication
Electronics (2079-9292), 2020, Vol 9, Issue 8, p1238
- ISSN
2079-9292
- Publication type
Article
- DOI
10.3390/electronics9081238