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Uncertainty Characterisation of Mobile Robot Localisation Techniques using Optical Surveying Grade Instruments

McLoughlin, BJ, Pointon, HAG, McLoughlin, JP, Shaw, A and Bezombes, FA (2018) Uncertainty Characterisation of Mobile Robot Localisation Techniques using Optical Surveying Grade Instruments. Sensors, 18 (7). ISSN 1424-8220

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Abstract

Recent developments in localisation systems for autonomous robotic technology have been a driving factor in the deployment of robots in a wide variety of environments. Estimating sensor measurement noise is an essential factor when producing uncertainty models for state-of-the-art robotic positioning systems. In this paper, a surveying grade optical instrument in the form of a Trimble S7 Robotic Total Station is utilised to dynamically characterise the error of positioning sensors of a ground based unmanned robot. The error characteristics are used as inputs into the construction of a Localisation Extended Kalman Filter which fuses Pozyx Ultra-wideband range measurements with odometry to obtain an optimal position estimation, all whilst using the path generated from the remote tracking feature of the Robotic Total Station as a ground truth metric. Experiments show that the proposed method yields an improved positional estimation compared to the Pozyx systems’ native firmware algorithm as well as producing a smoother trajectory.

Item Type: Article
Uncontrolled Keywords: 0301 Analytical Chemistry, 0906 Electrical And Electronic Engineering
Subjects: T Technology > T Technology (General)
Divisions: Built Environment
General Engineering Research Institute
Maritime and Mechanical Engineering
Publisher: MDPI
Related URLs:
Date Deposited: 01 Oct 2018 09:08
Last Modified: 03 Oct 2018 08:09
DOI or Identification number: 10.3390/s18072274
URI: http://researchonline.ljmu.ac.uk/id/eprint/9378

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