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Precise positioning...
Abstract
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- In this paper, we analyze the performance of a positioning system based on the fusion of Ultra-Wideband (UWB) ranging estimates together with odometry and inertial data from the vehicle. For carrying out this data fusion, an Extended Kalman Filter (EKF) has been used. Furthermore, a post-processing algorithm has been designed to remove the Non Line-Of-Sight (NLOS) UWB ranging estimates to further improve the accuracy of the proposed solution. This solution has been tested using both a simulated environment and a real environment. This research work is in the scope of the PRoPART European Project. The different real tests have been performed on the AstaZero proving ground using a Radio Control car (RC car) developed by RISE (Research Institutes of Sweden) as testing platform. Thus, a real time positioning solution has been achieved complying with the accuracy requirements for the PRoPART use case. © 2020 by the authors.
Keyword
- Autonomous vehicle
- Dynamic tests
- Extended Kalman filter
- High velocity
- Precise positioning
- RC car
- Real outdoor environment
- UWB
Publication and Content Type
- ref (subject category)
- art (subject category)
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