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Research on differential Positioning technology of mobile Robot based on UWB

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Honglin WangAuthors Info & Claims

EITCE '21: Proceedings of the 2021 5th International Conference on Electronic Information Technology and Computer Engineering

Pages 215 - 220

https://doi.org/10.1145/3501409.3501449

Published: 31 December 2021 Publication History

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Abstract

In order to reduce the positioning error of UWB system and improve the positioning accuracy of mobile robot that a differential positioning technology using reference station is proposed. According to the similar phenomenon of the mobile robot's surrounding environment, the nearby base station is used as the reference station to correct the tag measurement data. Firstly, kalman filter algorithm is used to process the measurement data, and then the reference station data is used for differential correction. Finally, TOA combined with least square positioning algorithm is used to calculate the position coordinates of the label. DW1000 positioning module and STM32 control module are used to construct the system hardware. Experimental results show that the average error of position coordinates obtained by the positioning system is 34.3mm, and the root mean square error is 46.1mm, which is 66.4% lower than the position error before, and can well improve the positioning accuracy and stability of the mobile robot.

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Tran VDai ZTrigoni NMarkham A(2022)DeepCIR: Insights into CIR-based Data-driven UWB Error Mitigation2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS47612.2022.9981931(13300-13307)Online publication date: 23-Oct-2022
https://doi.org/10.1109/IROS47612.2022.9981931

Index Terms

Research on differential Positioning technology of mobile Robot based on UWB
1. General and reference
  1. Cross-computing tools and techniques
    1. Empirical studies

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EITCE '21: Proceedings of the 2021 5th International Conference on Electronic Information Technology and Computer Engineering

October 2021

1723 pages

ISBN:9781450384322

DOI:10.1145/3501409

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Published: 31 December 2021

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EITCE 2021

EITCE 2021: 2021 5th International Conference on Electronic Information Technology and Computer Engineering

October 22 - 24, 2021

Xiamen, China

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EITCE '21 Paper Acceptance Rate 294 of 531 submissions, 55%;

Overall Acceptance Rate 508 of 972 submissions, 52%

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Tran VDai ZTrigoni NMarkham A(2022)DeepCIR: Insights into CIR-based Data-driven UWB Error Mitigation2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS47612.2022.9981931(13300-13307)Online publication date: 23-Oct-2022
https://doi.org/10.1109/IROS47612.2022.9981931

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Beacon scheduling algorithm for localization of a mobile robot

Indoor Positioning Technology Based on the Fusion of UWB and BLE

Mobile Robot Localization in Indoor Environments Using Multiple Wireless Technologies

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Beacon scheduling algorithm for localization of a mobile robot

Indoor Positioning Technology Based on the Fusion of UWB and BLE

Mobile Robot Localization in Indoor Environments Using Multiple Wireless Technologies

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