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이동로봇의 실내 위치추정을 위한 이동평균 기반 IMU/UWB 센서 융합 방법
임정환(Jung-Hwan Lim),심준혁(Jun-Hyuk Shim),정회룡(Hoeryong Jung) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.4
Ultra-wideband(UWB) is a short-range radio technology that can be used for accurate indoor positioning of mobile robots. Although UWB provides superior localization performance compared with conventional wireless-communication-based localization methods, there are still problems with applying UWB to the localization of mobile robots. In this paper, we propose an IMU/UWB sensor fusion algorithm that uses a moving average filter to improve the positioning accuracy of UWB-based localization. The proposed method utilizes the law of large numbers, which states that the average of the samples should be close to the expected value as the size of the samples increases. We produce virtual samples of a current position using previous UWB and IMU data and find the optimal position estimation by averaging the value fo the virtual samples. We also build a simulation environment to evaluate the performance of the proposed method using MATLAB. The simulation results show that the proposed method improves position accuracy by up to 23% compared with a previous method that uses the Kalman Filter.