Sensor fusion of odometry and a single beacon distance measurement

The pose estimation of a differential drive robot from noisy odometry and a noisy beacon distance measurement is studied. It is shown that the problem is a state estimation problem with unknown input, which under some assumptions regarding the noise on the state, can be rewritten in a state estimation problem. An heuristic sensor fusion algorithm is proposed and compared with the extended Kalman filter and the particle filter in a simulation experiment.