A location method based on UWB for ward scene application

摘要

Epidemic prevention robots(EPRs) play an extremely important role in the period of an influenza outbreak. Most of the used scenes of EPR are indoor scenes such as ward and consulting room. The cost of the existing indoor positioning system based on vision is too high, but the positioning accuracy based on wireless technology is not enough, which restricts the development of EPR. In this paper, a positioning system based on UWB is proposed to provide a positioning service for EPR. A particle filter with adaptive particle redistribution is used to fuse the odometer and UWB. The incremental data of the odometer is used to predict the motion of EPR, and UWB data is used as the observation value to realize the pose estimation of EPR. The experimental results in the ward scene show that the method has good tracking performance and the positioning error is 3-7cm, providing robust and precise localization estimation for EPR applications.