NLOS 상황에서 UWB-VIO 융합을 통한 로봇의 위치 추정 기법

Abstract

In indoor environments where the global navigation satellite system (GNSS) is not available, the robot localization algorithm based on ultrawide-band (UWB) signals has advantages. However, the UWB range measurement can be erroneous due to a non-line-of-sight (NLOS) condition between UWB anchors and tags. In this paper, the pose-graph-based UWB and visual inertial odometry (VIO) fusion algorithm which is robust in NLOS environments is proposed. The UWB ranges between the UWB anchor and the robot are set as the constraints between nodes and landmarks. The NLOS factor of UWB range is calculated to correct and mitigate the UWB range error. Finally, the pose of the robot is estimated through graph optimization. The proposed algorithm is validated by simulated experiments.