A Computationally Efficient Moving Horizon Estimation for Flying Robots’ Localization Regarding a Single Anchor
2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)（2021）
Abstract
With a low-cost inertial measurement unit (IMU) and a single ultra-wideband (UWB) anchor, one can conveniently estimate a flying robot’s position with high cost-performance. To guarantee the position estimation precision during the flight, a moving horizon estimation algorithm is proposed in this work, which utilizes past measurements during a time horizon rather than a concurrent single measureme...
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Key words
Location awareness,Estimation,Position measurement,Time measurement,Computational efficiency,Trajectory,Observability
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