Yanli Gao1, Wanfeng Ma2, Jing Cao2, Jianling Qu1 and Yuan Xu2,3,*
CMES-Computer Modeling in Engineering & Sciences, Vol.130, No.2, pp. 1221-1237, 2022, DOI:10.32604/cmes.2022.017533
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… More >
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