Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes

• URL: http://arxiv.org/abs/2109.04868v1
• Date: Fri, 10 Sep 2021 13:28:23 GMT
• Title: Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes
• Authors: Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby, James Richard Forbes
• Abstract summary: This letter experimentally demonstrates how to use UWB range and received signal strength ( RSS) measurements to estimate robot heading. A gyroscope in an invariant extended Kalman filter is used to realize a heading estimation method that uses only UWB and gyroscope measurements.
• Score: 1.6058099298620425
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based heading estimation difficult. Ultra-wideband (UWB) transceivers are common in indoor localization problems. This letter experimentally demonstrates how to use UWB range and received signal strength (RSS) measurements to estimate robot heading. The RSS of a UWB antenna varies with its orientation. As such, a Gaussian process (GP) is used to learn a data-driven relationship from UWB range and RSS inputs to orientation outputs. Combined with a gyroscope in an invariant extended Kalman filter, this realizes a heading estimation method that uses only UWB and gyroscope measurements.

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