Single Base Station Positioning for Robots Based on Multiple Sensor Fusion

With the development of technology, positioning systems have shifted from outdoor to indoor and from low precision to high precision. The indoor positioning has put forward greater demands on many applications including indoor robot navigation. Aiming at improving the accuracy, cost, and stability of indoor localization, this paper proposed a single base station positioning approach for robots based on the fusion of UWB, IMU, and encoder sensors. With the combination of several sensors, robots that carry UWB tags can achieve high accuracy localization and well robustness in an indoor environment. It has been validated in indoor corridors and passages. Compared with traditional multi-base station positioning methods, the approach which we proposed cuts the positioning cost and improves flexibility. Experiments are carried out to validate the localization performance. The results confirm that the average positioning errors can meet requirements in most indoor scenes.