5 papers · 1 filter
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…
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…
Modular Meshed Ultra-Wideband Aided Inertial Navigation with Robust Anchor Calibration
Roland Jung, Luca Santoro, Davide Brunelli +2
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies redu…