基于超宽带接收信号强度和高斯过程的航向估计
Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes
摘要：
机器人必须能够确定其位置和方向，以自主执行任务。航向估计在室内环境中尤其具有挑战性，其中磁失真使得基于磁力计的航向估计困难。超宽带（UWB）收发器在室内定位问题中很常见。这封信实验演示了如何使用UWB范围和接收信号强度（RSS）的测量，以估计机器人的航向。UWB天线的RSS随其取向而变化。因此，高斯过程（GP）用于学习从UWB范围和RSS输入到定向输出的数据驱动关系。结合不变扩展卡尔曼滤波器中的陀螺仪，实现了仅使用UWB和陀螺仪测量的航向估计方法。
英文摘要：
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based heading estimation difficult. Ultra-wideband (UWB) transceivers are common in indoor localization problems. This letter experimentally demonstrates how to use UWB range and received signal strength (RSS) measurements to estimate robot heading. The RSS of a UWB antenna varies with its orientation. As such, a Gaussian process (GP) is used to learn a data-driven relationship from UWB range and RSS inputs to orientation outputs. Combined with a gyroscope in an invariant extended Kalman filter, this realizes a heading estimation method that uses only UWB and gyroscope measurements.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
