文章基本信息

标题：Iterative Bias Estimation for an Ultra-Wideband Localization System
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作者：Bas van der Heijden ; Anton Ledergerber ; Rajan Gill 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：1391-1396
DOI：10.1016/j.ifacol.2020.12.1889
语种：English
出版社：Elsevier
摘要：AbstractAn iterative bias estimation framework is presented that mitigates position-dependent ranging errors often present in ultra-wideband localization systems. State estimation and control are integrated, such that the positioning accuracy improves over iterations. The framework is experimentally evaluated on a quadcopter platform, resulting in improvements in the tracking performance with respect to ground truth, and also smoothing the overall flight by significantly reducing unwanted oscillations; seehttps://youtu.be/J-htfbzf40Ufor a video.
关键词：KeywordsUltra-wideband technologyadaptive observer designiterativerepetitive controlBayesian methodssensor fusionrecursive least squaresclassification