Estimating odometry scale and UWB anchor location based on semidefinite programming optimization

In this letter, we study the problem of estimating the unknown metric scale of an odometry system and the 3D location of an Ultra-wideband (UWB) anchor in the environment. Firstly, we present a theoretical analysis of the problem which includes the derivation of Fisher Information Matrix (FIM) and i...

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Bibliographic Details
Main Authors: Nguyen, Thien Hoang, Xie, Lihua
Other Authors: School of Electrical and Electronic Engineering
Format: Journal Article
Language:English
Published: 2022
Subjects:
Online Access:https://hdl.handle.net/10356/163296