Real Time UWB Sensor-based Localization of a Cable-driven Robot

Authors

  • Marlon Domingues Department of Electrical and Computer Engineering, University of São Paulo, SP
  • Guilherme A. S. Pereira Department of Mechanical, Materials, and Aerospace Engineering, West Virginia University, WVU

Keywords:

Localization, Kalman filter, Ultra-wideband, accelerometer, sensor fusion

Abstract

This paper details the development of a real-time localization system (RTLS) using the DWM1001C-DEV commercial platform. This platform incorporates the DWM1001C ultra-wideband (UWB) sensor along with an STM LIS2DH12TR accelerometer. The setup involves establishing a network of static devices with known coordinates, referred to as anchors, and a mobile device termed a tag. The tag communicates with all the anchors to measure the distance between them. With these distances, three different methods were applied to estimate the position of the mobile device: least squares (LS), weighted least squares (WLS), and the Kalman Filter (KF) performing sensor fusion with distance and acceleration data. Finally, the results were compared with a VICON motion-capture system.

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Published

2024-10-18

Issue

Vol. 4 No. 1 (2024): CBA2024

Section

Articles