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Ultra WideBand enabled Inertial Odometry for Generic Localization
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-5735-5484
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2017 (English)In: IFAC-PapersOnLine, ISSN 1045-0823, E-ISSN 1797-318X, Vol. 50, no 1, p. 11465-11472Article in journal (Refereed) Published
Abstract [en]

In this paper we will present a inertial odometry localization system, utilizing Ultra WideBand distance measurements for corrections, as a generic localization solution. The proposed scheme is evaluated in two different measurement schemes, one cyclic and one based on stochastic events, which has the strong merit of minimizing the sampling rate, while adhering to covariance constraints on the state, allowing the system to conform with RF regulations. The efficacy of the proposed scheme is evaluated in extended experimental evaluation on an hexacopter Unmanned Aerial Vehicle

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 50, no 1, p. 11465-11472
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-66203DOI: 10.1016/j.ifacol.2017.08.1820ISI: 000423965100397Scopus ID: 2-s2.0-85031776500OAI: oai:DiVA.org:ltu-66203DiVA, id: diva2:1150791
Conference
20th IFAC World Congress, Toulouse, France, 9-14 July 2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Note

Konferensartikel i tidskrift

Available from: 2017-10-20 Created: 2017-10-20 Last updated: 2018-06-04Bibliographically approved

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Fresk, EmilÖdmark, KristofferNikolakopoulos, George

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CiteExportLink to record
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  • apa
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