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This paper investigates an infra-structure free global localization of agroup of communicating mobile agents (e.g., first responders or exploringrobots) via an ultra-wideband (UWB) inter-agent ranging aided dead-reckoning.We propose a loosely coupled cooperative localization algorithm that acts as anaugmentation atop the local dead-reckoning system of each mobile agent. Thisaugmentation becomes active only when an agent wants to process a relativemeasurement it has taken. The main contribution of this paper is addressing thechallenges in the proper processing of the UWB range measurements in theframework of a loosely coupled cooperative localization. Even though UWB offersa decimeter level accuracy in line-of-sight (LoS) ranging, its accuracydegrades significantly in non-line-of-sight (NLoS) due to the significantunknown positive bias in the measurements. Thus, the measurement models for theUWB LoS and NLoS ranging conditions are different, and proper processing ofNLoS measurements requires a bias compensation measure. We also show that, inpractice, the measurement modal discriminators determine the type of UWB rangemeasurements should be probabilistic. To take into account the probabilisticnature of the NLoS identifiers when processing UWB inter-agent rangingfeedback, we employ an interacting multiple model (IMM) estimator in ourlocalization filter. We also propose a bias compensation method for NLoS UWBmeasurements. The effectiveness of our cooperative localization is demonstratedvia an experiment for a group of pedestrians who use UWB relative rangemeasurements among themselves to improve their shoe-mounted INS geolocation.

An IMM-based Decentralized Cooperative Localization with LoS and NLoS UWB Inter-agent Ranging