Augmented UWB-ZUPT-SLAM Utilizing Multisensor Fusion
This article proposes a generalized UltraWideBand (UWB)-Zero-velocity-UPdaTe (ZUPT)-simultaneous localization and mapping (SLAM) algorithm, a SLAM approach, utilizing a combination of foot-mounted localization systems integrating inertial measurement units (IMUs), UWB modules, barometers, and dynami...
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IEEE
2023-01-01
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| Series: | IEEE Journal of Indoor and Seamless Positioning and Navigation |
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| Online Access: | https://ieeexplore.ieee.org/document/10283865/ |
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| author | Chi-Shih Jao Danmeng Wang Changwei Chen Eudald Sangenis Joe Grasso Solmaz S. Kia Andrei M. Shkel |
| author_facet | Chi-Shih Jao Danmeng Wang Changwei Chen Eudald Sangenis Joe Grasso Solmaz S. Kia Andrei M. Shkel |
| author_sort | Chi-Shih Jao |
| collection | DOAJ |
| description | This article proposes a generalized UltraWideBand (UWB)-Zero-velocity-UPdaTe (ZUPT)-simultaneous localization and mapping (SLAM) algorithm, a SLAM approach, utilizing a combination of foot-mounted localization systems integrating inertial measurement units (IMUs), UWB modules, barometers, and dynamically-deployed beacons incorporating UWB, IMUs, and reference barometers. The proposed approach leverages a ZUPT-aided Inertial Navigation System augmented with self-contained sensor fusion techniques to map unknown UWB beacons dynamically deployed in an environment during navigation and then utilizes the localized beacons to bound position error propagation. An experimental testbed was developed, and we conducted two series of experiments to validate the performance of the proposed approach. The first experiment involved high-accuracy motion capture cameras in generating ground truth, and the results showed that the proposed approach estimated positions of UWB beacons with a maximum localization error of 0.36 m, when deployed during the first 15 and 20 s of the navigation. In the second experiment, a pedestrian traveled for around 3.5 km in 1 h in a large multifloor indoor environment and deployed seven beacons, during the first 63, 151, 290, 399, 517, 585, and 786 s of the experiment. The proposed generalized UWB-ZUPT-SLAM had a 3-D mean absolute error of 0.48 m in this experiment, equivalent to 0.013% traveling distance. |
| format | Article |
| id | doaj-art-0cf39a2d55bc47d4a3b9507102b2013e |
| institution | DOAJ |
| issn | 2832-7322 |
| language | English |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Journal of Indoor and Seamless Positioning and Navigation |
| spelling | doaj-art-0cf39a2d55bc47d4a3b9507102b2013e2025-08-20T02:57:17ZengIEEEIEEE Journal of Indoor and Seamless Positioning and Navigation2832-73222023-01-011809210.1109/JISPIN.2023.332427910283865Augmented UWB-ZUPT-SLAM Utilizing Multisensor FusionChi-Shih Jao0https://orcid.org/0000-0003-4695-2034Danmeng Wang1https://orcid.org/0000-0002-7671-0418Changwei Chen2https://orcid.org/0000-0001-6608-5519Eudald Sangenis3https://orcid.org/0009-0009-8476-4019Joe Grasso4https://orcid.org/0009-0000-6075-2958Solmaz S. Kia5https://orcid.org/0000-0002-8492-6913Andrei M. Shkel6https://orcid.org/0000-0001-5517-7709Department of Mechanical And Aerospace Engineering, University of California, Irvine, CA, USADepartment of Mechanical And Aerospace Engineering, University of California, Irvine, CA, USADepartment of Mechanical And Aerospace Engineering, University of California, Irvine, CA, USADepartment of Mechanical And Aerospace Engineering, University of California, Irvine, CA, USAPublic Safety Communications Research Division, National Institute of Standard and Technology, Boulder, CO, USADepartment of Mechanical And Aerospace Engineering, University of California, Irvine, CA, USADepartment of Mechanical And Aerospace Engineering, University of California, Irvine, CA, USAThis article proposes a generalized UltraWideBand (UWB)-Zero-velocity-UPdaTe (ZUPT)-simultaneous localization and mapping (SLAM) algorithm, a SLAM approach, utilizing a combination of foot-mounted localization systems integrating inertial measurement units (IMUs), UWB modules, barometers, and dynamically-deployed beacons incorporating UWB, IMUs, and reference barometers. The proposed approach leverages a ZUPT-aided Inertial Navigation System augmented with self-contained sensor fusion techniques to map unknown UWB beacons dynamically deployed in an environment during navigation and then utilizes the localized beacons to bound position error propagation. An experimental testbed was developed, and we conducted two series of experiments to validate the performance of the proposed approach. The first experiment involved high-accuracy motion capture cameras in generating ground truth, and the results showed that the proposed approach estimated positions of UWB beacons with a maximum localization error of 0.36 m, when deployed during the first 15 and 20 s of the navigation. In the second experiment, a pedestrian traveled for around 3.5 km in 1 h in a large multifloor indoor environment and deployed seven beacons, during the first 63, 151, 290, 399, 517, 585, and 786 s of the experiment. The proposed generalized UWB-ZUPT-SLAM had a 3-D mean absolute error of 0.48 m in this experiment, equivalent to 0.013% traveling distance.https://ieeexplore.ieee.org/document/10283865/Differential barometerextended Kalman filter (EKF)embedded systemsinertial measurement unit (IMU)indoor navigationinertial navigation |
| spellingShingle | Chi-Shih Jao Danmeng Wang Changwei Chen Eudald Sangenis Joe Grasso Solmaz S. Kia Andrei M. Shkel Augmented UWB-ZUPT-SLAM Utilizing Multisensor Fusion IEEE Journal of Indoor and Seamless Positioning and Navigation Differential barometer extended Kalman filter (EKF) embedded systems inertial measurement unit (IMU) indoor navigation inertial navigation |
| title | Augmented UWB-ZUPT-SLAM Utilizing Multisensor Fusion |
| title_full | Augmented UWB-ZUPT-SLAM Utilizing Multisensor Fusion |
| title_fullStr | Augmented UWB-ZUPT-SLAM Utilizing Multisensor Fusion |
| title_full_unstemmed | Augmented UWB-ZUPT-SLAM Utilizing Multisensor Fusion |
| title_short | Augmented UWB-ZUPT-SLAM Utilizing Multisensor Fusion |
| title_sort | augmented uwb zupt slam utilizing multisensor fusion |
| topic | Differential barometer extended Kalman filter (EKF) embedded systems inertial measurement unit (IMU) indoor navigation inertial navigation |
| url | https://ieeexplore.ieee.org/document/10283865/ |
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