Relative Position Estimation Between Two UWB Devices with IMUs

Abstract

For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for determining the three-dimensional relative position between two mobile robots, each using nothing more than a single ultra-wideband transceiver, an accelerometer, a rate gyro, and a magnetometer. A sliding window filter estimates the relative position at selected keypoints by combining the distance measurements with acceleration estimates, which each agent computes using an on-board attitude estimator. The algorithm is appropriate for real-time implementation, and has been tested in simulation and experiment, where it comfortably outperforms standard estimators. A positioning accuracy of less than 1 meter is achieved with inexpensive sensors.

8 pages, 9 figures, published in IEEE Robotics and Automation Letters

References in corpus (2)

• Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm
• Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements

Cited by in corpus (4)

• Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
• Relative Transformation Estimation Based on Fusion of Odometry and UWB Ranging Data
• Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers
• 3-D Relative Localization for Multi-Robot Systems with Angle and Self-Displacement Measurements