Comparative Analysis of Integrated Filtering Methods Using UWB Localization in Indoor Environment
Rahul Ranjan,
Donggyu Shin,
Yoonsik Jung
et al.
Abstract:This research delves into advancing an ultra-wideband (UWB) localization system through the integration of filtering technologies (moving average (MVG), Kalman filter (KF), extended Kalman filter (EKF)) with a low-pass filter (LPF). We investigated new approaches to enhance the precision and reduce noise of the current filtering methods—MVG, KF, and EKF. Using a TurtleBot robotic platform with a camera, our research thoroughly examines the UWB system in various trajectory situations (square, circular, and free… Show more
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