Ultrasound/DR integrated localization and pose tracking for an Indoor Mobile Robot

This paper brings forward a structure and signal processing algorithms for localization and pose tracking of an Indoor Mobile Robot (IMR) by integrating ultrasonic and Dead-Reckoning (DR) measurements. The localization system consists of two ultrasonic transmitter nodes, two ultrasonic receiver nodes, one magnetic compass and two encoders, four ultrasonic time-of-flight (TOF) measurements together with the DR information (compass and encoder measurements) are used to estimate the IMR´s location and pose. A novel Adaptive Square-Root Kalman Filter (ASRKF) is applied to improve the estimation accuracy. A computer simulation based on Matlab and experiment prototype were built to verify the method. The results confirm that the proposed localization methodology has high accuracy and interference immunity for IMRs.