Autonomous systems usually require accurate localization methods for them to navigate safely in indoor environments. Most localization methods are expensive and difficult to set up. In this work, we built a low-cost and portable indoor location tracking system by using Raspberry Pi 4 computer, ultra-wideband (UWB) sensors, and inertial measurement unit(s) (IMU). We also developed the data logging software and the Kalman filter (KF) sensor fusion algorithm to process the data from a low-power UWB transceiver (Decawave, model DWM1001) module and IMU device (Bosch, model BNO055). Autonomous systems move with different velocities and accelerations, which requires its localization performance to be evaluated under diverse motion conditions. We built a dynamic testing platform to generate not only the ground truth trajectory but also the ground truth acceleration and velocity. In this way, our tracking system's localization performance can be evaluated under dynamic testing conditions. The novel contributions in this work are a low-cost, low-power, tracking system hardware-software design, and an experimental setup to observe the tracking system's localization performance under different dynamic testing conditions. The testing platform has a 1 m translation length and 80 μm of bidirectional repeatability. The tracking system's localization performance was evaluated under dynamic conditions with eight different combinations of acceleration and velocity. The ground truth accelerations varied from 0.6 to 1.6 m/s2 and the ground truth velocities varied from 0.6 to 0.8 m/s. Our experimental results show that the location error can reach up to 50 cm under dynamic testing conditions when only relying on the UWB sensor, with the KF sensor fusion of UWB and IMU, the location error decreases to 13.7 cm.
Keywords: Kalman filter; inertial measurement unit (IMU); sensor fusion; system localization; ultra-wideband (UWB).