Relative Position Estimation Between Two UWB Devices With IMUs

For a team of robots to work collaboratively, it is crucial that each robot have the ability determine position their neighbors, relative themselves, in order execute tasks autonomously. This letter presents an algorithm for determining three-dimensional between two mobile robots, using nothing more than single ultra-wideband transceiver, accelerometer, rate gyro, and magnetometer. A sliding window filter estimates at selected keypoints by combining distance measurements with acceleration estimates, which agent computes on-board attitude estimator. The appropriate real-time implementation, has been tested simulation experiment, where comfortably outperforms standard estimators. positioning accuracy less 1 meter achieved inexpensive sensors.