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Precise positioning...
Precise positioning of autonomous vehicles combining UWB ranging estimations with on-board sensors
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- Martín, Javier (författare)
- CEIT Basque Research and Technology Alliance, Spain
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- Cortés, Ainhoa (författare)
- CEIT Basque Research and Technology Alliance, Spain; Universidad de Navarra, Spain
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- Zamora-Cadenas, Leticia (författare)
- CEIT Basque Research and Technology Alliance, Spain; Universidad de Navarra, Spain
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- Svensson, Bo Johan (författare)
- RISE
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(creator_code:org_t)
- 2020-08-01
- 2020
- Engelska.
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Ingår i: Electronics. - : MDPI AG. - 2079-9292. ; 9:8
- Relaterad länk:
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https://doi.org/10.3...
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https://www.mdpi.com...
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https://urn.kb.se/re...
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https://doi.org/10.3...
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Abstract
Ämnesord
Stäng
- 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.
Nyckelord
- Autonomous vehicle
- Dynamic tests
- Extended Kalman filter
- High velocity
- Precise positioning
- RC car
- Real outdoor environment
- UWB
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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