5 papers
Deployment-Ready UWB Localization for Industrial Ground Robots with Automatic Anchor Calibration and Terrain-Aware Fusion
Alexander Raab, Giulio Delama, Roland Jung +1
Ultra-Wideband (UWB) ranging has become a viable option for industrial Autonomous Mobile Robot (AMR) localization due to improved accuracy and low cost. However, real-world deploym…
Decoupled Azimuth Elevation AoA Estimation Exploiting Kronecker Separable Steering Matrices
Faizan A. Khattak, Ian K. Proudler, Stephan Weiss +1
Uniform rectangular arrays (URA), structured non-uniform rectangular arrays (NURA), and parallelogram shaped (UPgA and NUPgA) arrays admit steering vectors that can be expressed as…
Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay
Giulio Delama, Martin Scheiber, Yixiao Ge +3
Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However…
Real-Time Initialization of Unknown Anchors for UWB-aided Navigation
Giulio Delama, Igor Borowski, Roland Jung +1
This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization so…
Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Then a Single Robot
Jiri Horyna, Roland Jung, Stephan Weiss +2
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, wher…