Localization in Structured Environments with UWB Devices without Acceleration Measurements, and Velocity Estimation Using a Kalman-Bucy Filter

In this work, a novel scheme for velocity and position estimation in a UWB range-based localization system is proposed. The suggested estimation strategy allows to overcome two main problems typically encountered in the localization systems. The first one is that it can be suitable for use in environments where the GPS signal is not present or where it might fail. The second one is that no accelerometer measurements are needed for the localization task. Moreover, to deal with the velocity estimation problem, a suitable Kalman-Bucy filter is designed and it is compared, experimentally, with a particle filter by showing the features of the two algorithms in order to be used in a localization context. Additionally, further experimental tests are carried out on a suitable developed test setup in order to confirm the goodness of the proposed approach.

Automated summary

A novel scheme for velocity and position estimation in a UWB range-based localization system is proposed in this study. The suggested strategy overcomes two main problems typically encountered in localization systems, namely, suitability for use in environments where the GPS signal is not present or might fail, and no requirement for accelerometer measurements in the localization task. Experimentally, a suitable Kalman-Bucy filter is designed and compared with a particle filter, showcasing the features of the two algorithms for localization usage. Further experimental tests on a developed test setup confirm the effectiveness of the proposed approach.