A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation
Abstract
:1. Introduction
- This paper introduces a straightforward adaptive localisation algorithm that first identifies NLOS through a previous sliding window approach. The ranging values of the optimal localisation anchors are then actively selected for localisation in complex indoor environments to effectively mitigate the effects of NLOS.
- This paper introduces a novel Dynamic Dimension Fusion (DDF) algorithm loosely integrating UWB and wheeled odometers. This integration facilitates 1D and 2D fusion, adapting to varying motion states. Through comparative analysis with the UKF algorithm, the proposed approach outperforms the UKF algorithm regarding localisation precision.
- This paper substantiates the accuracy and effectiveness of the proposed algorithm through comprehensive data collection in a real-world indoor environment.
2. Methods
2.1. UWB
2.2. Odometer
2.3. Methodology
3. Experiment and Results
3.1. Experimental Environments and Equipment
3.2. Experimental Results
4. Discussion
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Position Error | UWB (Original) | UWB (Adaptive) | Odometer (Original) | UKF | DDF |
---|---|---|---|---|---|
Max (m) | 16.899 | 2.968 | 1.191 | 0.677 | 0.170 |
Mean (m) | 1.781 | 0.127 | 0.259 | 0.119 | 0.048 |
RMSE (m) | 1.851 | 0.160 | 0.304 | 0.117 | 0.042 |
Reference | Fusion Algorithm | Sensors | LOS/NLOS | Accuracy |
---|---|---|---|---|
[27] | KF | UWB and IMU | Hard NLOS environment | RMSE = 0.3–0.4 m |
[28] | EKF | UWB, IMU, and odometer | LOS | Fusion-RMSE = 3.29 cm UWB-only RMSE = 4.66 cm |
[29] | EKF UKF | UWB and IMU | LOS | MSE-EKF = 1.43 m MSE-UKF = 0.94 m |
[30] | PF | UWB, LiDAR, and odometer | Weak NLOS environment | RMSE = 0.05 m |
[24] | Federated Kalman filtering | UWB and Visual | Weak NLOS environment | Mean error of fusion: <30 cm |
[43] | EKF | UWB, IMU, and mmWave radar | LOS | RMSE-UWB-IMU: 0.184 m RMSE-UWB-mmWave: 0.323 |
This Paper | DDF | UWB and odometer | Hard NLOS environment | RMSE = 0.042 m |
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Liu, A.; Lin, S.; Wang, J.; Kong, X. A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation. Electronics 2023, 12, 4499. https://doi.org/10.3390/electronics12214499
Liu A, Lin S, Wang J, Kong X. A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation. Electronics. 2023; 12(21):4499. https://doi.org/10.3390/electronics12214499
Chicago/Turabian StyleLiu, Ang, Shiwei Lin, Jianguo Wang, and Xiaoying Kong. 2023. "A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation" Electronics 12, no. 21: 4499. https://doi.org/10.3390/electronics12214499