Comparative Analysis of Integrated Filtering Method Using UWB Localization in Indoor Environments
Rahul Ranjan,
Donggyu Shin,
Yoonsik Jung
et al.
Abstract:This research paper investigates ultra-wideband (UWB) localization systems by focusing on the use of average filter (AVG), Kalman filter (KF), and extended Kalman filter (EKF) algorithms, as well as a novel integrated filtering method that incorporates low-pass filter (LPF) into AVG, KF, and EKF. The study aims to improve localization loss in indoor environments using a TurtleBot robot equipped with a camera to observe ground truth positions. To evaluate the effectiveness of the proposed algorithms, a comprehe… Show more
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