강결합 UWB-IMU 기반의 로봇 위치 인식

Abstract

In disaster environment, LiDAR or vision sensors can hardly be used due to dust and smoke. To deal with this situation, the localization techniques using UWB (ultra-wideband) signals have been researched. In this paper, the tightly-coupled UWB-IMU-based localization algorithm designed to be robust in NLOS (non-line-of-sight) environment is proposed. The NLOS error factor is estimated using UWB range and IMU measurement. The experimental results demonstrate the effectiveness of the proposed algorithm.