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

Abstract

For improving the localization accuracy, a multi-interval extended finite impulse response (EFIR)-based RauchTung-Striebel (R-T-S) smoother is proposed for the range-only ultra wide band (UWB) simultaneous localization and mapping (SLAM) for robot localization. In 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 output. When the east or the north position is considered as stance, the ERTS is used to smooth the position directly. Moreover, the estimation of the UWB Reference Nodes’ (RNs’) position is smoothed by the R-T-S smooth method in parallel. The test illustrates that the proposed multi-interval ERTS smoothing for range-only UWB SLAM is able to provide accurate estimation. Compared with the EFIR filter, the proposed method improves the localization accuracy by about 25.35% and 40.66% in east and north directions, respectively