Inertial sensor and ultra-wideband sensor fusion : Precision positioning of robot platform

Sammanfattning: In order to determine the orientation and position of an object it is common to measure linear and angular motion with an inertial sensor. To further improve the positioning an ultra-wideband sensor can be used simultaneously and integrated in the final solution with sensor fusion. This study has evaluated an ultra- wideband sensor, and also integrated it with a pre- existing solution for positioning using inertial sensors, in order to determine if the solution is viable for positioning of an autonomous robot platform for use in industrial environments. The results of the evaluation shows that the ultra- wideband sensor would work well in the intended environments but that further tests are needed to establish behavior in none- line-of-sight conditions. The results from the sensor fusion show that the integration of the two sensors yields a result that is better than either of the sensors working alone. The main issue with the current solution is a low sampling rate of the ultra-wideband sensor. A list of other suggested improvements is provided.