Open AccessUltra-wide band positioning for automatic guided vehicles
Author(s) -
Alexander Chugunov,
Roman Kulikov,
Dmitry V. Tsaregorodcev,
Nikita I. Petukhov
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/537/3/032093
Subject(s) - kalman filter , computer science , extended kalman filter , component (thermodynamics) , algorithm , artificial intelligence , physics , thermodynamics
In this paper we propose ultra-wide band radio solution for indoor AGV positioning. Advantages over known solutions are described. Characteristics of the used ultra-wide band component base are given. Considered solution consists from anchors and tags. System operates with RTDoA method. Extended Kalman Filter algorithm is used to estimate the coordinates of the tag. Modified Extended Kalman Filter algorithm is obtained. It allows to eliminate erroneous measurements from solution. Result of the experiment are shown.