2024/05/21 by Yuan Fu, Zheng Zhang, Fu, Yuan +9
Computer Science · Earth and Planetary Sciences · Engineering · #93J08 #FOS: Computer and information sciences #FOS: Mathematics #G.m #Geophysics and Gravity Measurements #Inertial Sensor and Navigation #Optimization and Control (math.OC) #Robotics (cs.RO) #Target Tracking and Data Fusion in Sensor Networks
paper · pdf · doi:10.48550/arxiv.2405.12577
openalex publication_date 2024/05/21 · openalex created_date 2024/05/23 · openalex updated_date 2026/07/28
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step estimation method based on maximum likelihood estimation. Specifically, a good initial value is obtained through unconstrained least squares and projection, followed by a more accurate estimate achieved through one-step Gauss-Newton iteration. Additionally, the optimal installation positions of Ultra-Wideband (UWB) are provided, and the minimum operating time under different quantities of UWB devices is determined. Simulation demonstrates that the two-step approach offers faster computation with guaranteed accuracy while effectively addressing the relative transformation estimation problem within limited space constraints. Furthermore, this method can be applied to real-time relative transformation estimation when a specific number of UWB devices are installed.