Real Time UWB Error Estimation in a Tightly-Coupled GPS / UWB Positioning System

  title={Real Time UWB Error Estimation in a Tightly-Coupled GPS / UWB Positioning System},
  author={Glenn Macgougan and Kyle O’Keefe},
This paper presents a tightly-coupled integration of GPS observations and ultra-wideband ranges that accounts for systematic UWB errors in real-time using additional error states to augment an extended Kalman filter. Results of range measurements obtained using commercially available UWB radios in optimal line-of-sight conditions are compared to surveyed ranges using conventional methods to assess UWB error characteristics. UWB range measurements from multiple UWB reference stations as well as… CONTINUE READING
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