Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
158 tokens/sec
GPT-4o
7 tokens/sec
Gemini 2.5 Pro Pro
45 tokens/sec
o3 Pro
4 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

On Observability and Identifiability of Tightly-coupled Ultrawideband-aided Inertial Localization (2107.14326v1)

Published 29 Jul 2021 in cs.RO

Abstract: The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs are located closer to the center of gravity for use in control, resulting in a spatial offset between the IMU and the UWB radio. Additionally, data from heterogeneous sensors can arrive at different time instants. The systematic fusion of data from multiple sources requires the temporal offset and spatial offset between the sensors to be known. An important aspect of calibration is the observability of the system state and identifiability of the system parameters. Estimating the state or parameters of a system that is otherwise unobservable or unidentifiable, can result in poor estimates. In this report, the local weak observability of the state and the identifiability of the temporal offset for a tightly-coupled UWB-aided inertial localization system is studied.

Summary

We haven't generated a summary for this paper yet.