Paper Info
Title
Online Model Estimation Of Ultra-Wideband Tdoa Measurements For Mobile Robot Localization
Abstract
Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) measurements, and must be addressed with accurate measurement models in order to avoid significant localization errors. In this work, we first develop an efficient, closed-form TDOA error model and analyze its estimation characteristics by calculating the Cramer-Rao lower bound (CRLB). We subsequently detail how an online Expectation Maximization (EM) algorithm is adopted to find an elegant formalism for the maximum likelihood estimate of the model parameters. We perform real experiments on a mobile robot equipped with an UWB emitter, and show that the online estimation algorithm leads to excellent localization performance due to its ability to adapt to the varying NLOS path conditions over time.
Year
DOI
Venue
2012
10.1109/ICRA.2012.6224869
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Keywords
Field
DocType
ultra wideband,base stations,non line of sight,crlb,mathematical model,robots,mobile robots,mobile robot,em algorithm,measurement uncertainty,cramer rao lower bound,measurement systems,maximum likelihood estimation,expectation maximization,estimation,path planning,base station,maximum likelihood estimate,lower bound,time difference of arrival
Motion planning,Non-line-of-sight propagation,Cramér–Rao bound,Base station,Expectation–maximization algorithm,Algorithm,Control engineering,Electronic engineering,Multilateration,Engineering,Mobile robot,Online model
Conference
Volume
Issue
ISSN
2012
1
1050-4729
Citations 
PageRank 
References 
3
0.44
3
Authors
3
Name
Order
Citations
PageRank
Amanda Prorok1979.17
Lukas Gonon230.44
Alcherio Martinoli31466154.27