2021/07/29 by Abhishek Goudar, Goudar, Abhishek
Computer Science · Engineering · #FOS: Computer and information sciences #Indoor and Outdoor Localization Technologies #Microwave Imaging and Scattering Analysis #Robotics (cs.RO) #Target Tracking and Data Fusion in Sensor Networks #Ultra-Wideband Communications Technology
paper · pdf · doi:10.48550/arxiv.2107.14326
openalex publication_date 2021/07/29 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
The combination of ultrawideband (UWB) radios and inertial measurement units\n(IMU) can provide accurate positioning. To ensure reliable communication, the\nradios are generally mounted at the extremities of a mobile system whereas the\nIMUs are located closer to the center of gravity for use in control, resulting\nin a spatial offset between the IMU and the UWB radio. Additionally, data from\nheterogeneous sensors can arrive at different time instants. The systematic\nfusion of data from multiple sources requires the temporal offset and spatial\noffset between the sensors to be known. An important aspect of calibration is\nthe observability of the system state and identifiability of the system\nparameters. Estimating the state or parameters of a system that is otherwise\nunobservable or unidentifiable, can result in poor estimates. In this report,\nthe local weak observability of the state and the identifiability of the\ntemporal offset for a tightly-coupled UWB-aided inertial localization system is\nstudied.\n