GOAL is concerned with 2-D plane and 3-D space localization technology for robots. The methodology leverages on ultra-wideband (UWB) aided localization system and can be extended to application with other sensors such as inertial measurement unit (IMU), Wi-Fi, Optical Flow and Cameras.
Unlike existing Filter-based localization algorithms which have unacceptable estimation error in altitude, this technology provides high accuracy in the estimation in altitude without adding other sensors for altitude estimation, which saves cost of localization system. Also, this technology has the function for rejecting Non-line-of-sight (NLOS) measurements, which enables this technology to NLOS environment. The design of flexible moving window in this technology decreases the computational resources and increases the robustness to short duration lost in signal, which enables this technology to be applied to robots with ultra-low power processor.
For the proper functionality and performance of the GOAL algorithm, the following operational setup conditions should be met:
According to previous experiments using UWB module from Time Domain Company, the accuracy in X, Y and Z is estimated at within 20cm.
GOAL algorithm can run on an ultra-low power processor carried by Unmanned Aerial Vehicle (UAV). It can also be applied easily for other kinds of robots such as Unmanned Ground Vehicles (UGV), autonomous cars and other robotic applications.
Localization is the most basic capabilities of autonomous robot and plays a significant role in robot-related applications. This invention provides accurate localization in 2-D plane and 3-D space which is applicable to lower power computational devices. According to market report "Small Drones Market by Application (Defence, Commercial), Size (Micro, Mini, Nano), Payload (Sensor, Telemetry System, Camera, Videoscreen, NBC Detection, SAR, Others), Type, Propulsion Systems, & Region - Global Forecasts to 2020", published by marketsandmarkets, the small drones market is estimated to reach USD 10.04 Billion by 2020, at a CAGR of 11.6% from 2015 to 2020. The commercial segment is projected to grow at a comparatively higher CAGR during the forecast period, primarily owing to huge investments made by major players in the development of small drones for applications in agriculture, transportation, medical, and so on.