@Article{cmes.2022.017533,
AUTHOR = {Yanli Gao, Wanfeng Ma, Jing Cao, Jianling Qu and Yuan Xu},
TITLE = {Range-Only UWB SLAM for Indoor Robot Localization Employing Multi-Interval EFIR Rauch-Tung-Striebel Smoother},
JOURNAL = {Computer Modeling in Engineering \& Sciences},
VOLUME = {130},
YEAR = {2022},
NUMBER = {2},
PAGES = {1221--1237},
URL = {http://www.techscience.com/CMES/v130n2/45964},
ISSN = {1526-1506},
ABSTRACT = {For improving the localization accuracy, a multi-interval extended finite impulse response (EFIR)-based RauchTung-Striebel (R-T-S) smoother is proposed for the range-only ultra wide band (UWB) simultaneous localization
and mapping (SLAM) for robot localization. In this mode, the EFIR R-T-S (ERTS) smoother employs EFIR filter
as the forward filter and the R-T-S smoothing method to smooth the EFIR filter’s output. When the east or the
north position is considered as stance, the ERTS is used to smooth the position directly. Moreover, the estimation
of the UWB Reference Nodes’ (RNs’) position is smoothed by the R-T-S smooth method in parallel. The test
illustrates that the proposed multi-interval ERTS smoothing for range-only UWB SLAM is able to provide accurate
estimation. Compared with the EFIR filter, the proposed method improves the localization accuracy by about
25.35% and 40.66% in east and north directions, respectively},
DOI = {10.32604/cmes.2022.017533}
}