UWB-Based Robot Localization Using Distributed Adaptive EFIR Filtering

Ultrawideband (UWB)-based localization is widely used in environments inaccessible to global navigation satellite system signals. To improve the precision of UWB-based localization, a robust distributed adaptive extended unbiased finite impulse response (EFIR) filtering algorithm is developed. The algorithm is designed to reduce round-off errors and adaptively adjust noise covariances using the expectation-maximization (EM) approach. Based on extensive experimental testing, the EFIR algorithm is shown to outperform the distributed extended Kalman filter-based algorithm and distributed EFIR filter-based algorithm under harsh conditions.