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:	Civil Engineering & Built Environment Engineering Maritime & Mechanical Engineering (merged with Engineering 10 Aug 20)
Publisher:	MDPI
Related URLs:	Author
Date Deposited:	01 Oct 2018 09:08
Last Modified:	04 Sep 2021 02:23
DOI or ID number:	10.3390/s18072274
URI:	https://researchonline.ljmu.ac.uk/id/eprint/9378

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