Accurate UWB and IMU based indoor localization for autonomous robots

摘要

Real-time monitoring and tracking of mobile robots in an indoor environment is very important for numerous applications. In this paper a method to accurately locate mobile robots with sensor fusion is proposed. The acceleration from an inertial measurement unit (IMU) and the 2-D coordinates received from the Ultra-Wideband(UWB) anchors are fused together in a Kalman filter to achieve an accurate location estimation. The proposed method increases robustness, scalability, and accuracy of location. The measurement results, which was obtained using the proposed fusion, show considerable improvements in accuracy of the location estimation which can be used in different Indoor Positioning System (IPS) applications requiring precision.