Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and commercial applications. Ultra-wideband (UWB) technology provides another venue to accurately locate devices both indoors and outdoors. In this paper, we study a localization solution with a single UWB anchor, instead of the traditional multi-anchor setup. Besides the challenge of a single UWB ranging source, the only other sensor we require is a low-cost 9 DoF inertial measurement unit (IMU). Under such a configuration, we propose continuous monitoring of UWB range changes to estimate the robot speed when moving on a line. Combining speed estimation with orientation estimation from the IMU sensor, the system becomes temporally observable. We use an Extended Kalman Filter (EKF) to estimate the pose of a robot. With our solution, we can effectively correct the accumulated error and maintain accurate tracking of a moving robot.

中文翻译：

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使用单个 UWB 锚点进行准确的位置跟踪

准确的定位和跟踪是机器人应用的基本要求。GPS、光学跟踪、同步定位和地图绘制 (SLAM) 等定位系统用于日常生活活动、研究和商业应用。超宽带 (UWB) 技术为在室内和室外准确定位设备提供了另一个场所。在本文中，我们研究了具有单个 UWB 锚点的定位解决方案，而不是传统的多锚点设置。除了单个 UWB 测距源的挑战之外，我们唯一需要的其他传感器是低成本的 9 DoF 惯性测量单元 (IMU)。在这种配置下，我们建议持续监控 UWB 范围变化，以估计机器人在一条线上移动时的速度。将速度估计与来自 IMU 传感器的方向估计相结合，该系统在时间上变得可观察。我们使用扩展卡尔曼滤波器 (EKF) 来估计机器人的姿态。通过我们的解决方案，我们可以有效地纠正累积误差并保持对移动机器人的准确跟踪。