Observation-augmented EKF Based Local 3-D Localization Method for Moving Target
文献类型：会议论文
| 作者 | Pan S(潘思)1,2,3; Gu F(谷丰)2 ; Di CL(狄春雷)2; Yang LY(杨丽英)2; He YQ(何玉庆)2
|
| 出版日期 | 2020 |
| 会议日期 | December 18-21, 2020 |
| 会议地点 | Shenzhen, China |
| 页码 | 658-665 |
| 英文摘要 | High accuracy and frequency local localization is the key technology of unmanned aerial vehicles (UAVs) in the confined areas and complicated conditions such as indoor flight, landing on ship deck and flight in GPS-denied environments and so on. In this paper, based on ultra-wideband (UWB) technique an observation-augmented EKF based local 3-D localization method is proposed for improving the accuracy when a moving target is tracked. In the first, a weighted least square (WLS) localization algorithm is proposed based on range measurements for improving the accuracy of 3-D localization. In the second, the position estimated by WLS is taken as partial measurements in an Extended Kalman Filter (EKF) to achieve the localization of a moving target so that the observation of the system is augmented and the accuracy is thus improved. Besides that, the ranging error model is analyzed with P440, a commercial UWB range sensor. Based on the result, the simulations are conducted to validate of the proposed method and the results show that the localization accuracy of the proposed method is greatly improved without remarkable computational complexity. |
| 源文献作者 | Anhui Robotics Society ; Artificial Intelligence and Robotics Association of Guangdong Province ; Deltason ; IEEE/CAA Journal of Automatica Sinica |
| 产权排序 | 1 |
| 会议录 | ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | December 2020 |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-6479-3 |
| WOS记录号 | WOS:000728183800115 |
| 源URL | [http://ir.sia.cn/handle/173321/27760]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Pan S(潘思) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.University of Chinese Academy of Sciences, Beijing 100049, China |
| 推荐引用方式 GB/T 7714 | Pan S,Gu F,Di CL,et al. Observation-augmented EKF Based Local 3-D Localization Method for Moving Target[C]. 见:. Shenzhen, China. December 18-21, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。