Iterative Bias Estimation for an Ultra-Wideband Localization System

Iterative Bias Estimation for an Ultra-Wideband Localization System

van der Heijden, Bas (TU Delft Mechanical, Maritime and Materials Engineering)

Grammatico, Sergio (mentor)
Kober, Jens (graduation committee)
Ferranti, Laura (graduation committee)
Kok, Manon (graduation committee)

Delft University of Technology

Mechanical Engineering | Systems and Control

2019-12-20

Three bias estimation frameworks are presented that mitigate position-dependent ranging errors often present in ultra-wideband localization systems. State estimation and control are integrated, such that the positioning accuracy improves over iterations. The frameworks are experimentally evaluated on a quadcopter platform. Two state augmentation frameworks show that the anchor placement has a significant influence on the observability of the problem. A third framework circumvented any observability issues by using a classifier. This framework performed best as it improves the tracking performance with respect to ground truth, and also smoothens the overall flight by significantly reducing unwanted oscillations; see https://youtu.be/J-htfbzf40U for a video.

Ultra-wideband technology
adaptive observer design
Bayesian methods
sensor fusion
recursive least squares
classification
non line-of-sight

http://resolver.tudelft.nl/uuid:fd9de39b-2f6b-45d7-94a6-5b5754497a61

Student theses

master thesis

© 2019 Bas van der Heijden