ROS implementation of UWB-IMU-Odometer Fusion for Simultaneous Calibration and Localization. The demonstration of experimental results is as follows:
Ubuntu 18.04 ROS melodic
Running this program requires ROS support. If it is not installed, please install ROS first.
sudo apt-get update
sudo apt install python-pip
sudo pip install --user numpy scipy matplotlib ipython jupyter pandas sympy nose
sudo easy_install -U statsmodels
sudo apt install libcholmod3.0.6 libcsparse3.1.4 libsuitesparse-dev python-cvxopt
sudo apt install ros-melodic-hector-trajectory-server
git clone https://github.com/RainerKuemmerle/g2o
Clone the code and compile it as follows
mkdir ~/catkin_ws/src
cd catkin_ws/src
git clone --recursive https://github.com/JasonSun623/SCAL.git
cd ../
catkin_make
source devel/setup.bash
#4_anchor.bag
Duration: 57.9s
We adopt a layout design consisting of four anchors and one tag to evaluate SCAL method in the laboratory.
#6_anchor.bag
Duration: 22:25s (1345s)
We adopt the layout design of six anchors and one tag to evaluate SCAL method in the parking lot.
Parking lot Topics:
-
UWB raw measurements
/nodeframe2_rostime : nlink_parser/LinktrackNodeframe2rostime
-
IMU raw measurements
/imu : sensor_msgs/Imu
-
Wheel odometry raw measurements
/odom : nav_msgs/Odometry
Run
roslaunch nlink_parser linktrack.launch
rosrun nlink_example linktrack_example
roslauch localization localization_calibrate.launch
roslauch localization localization_bag_play.launch
If our work is helpful to you, please consider citing us by using the following BibTeX entry:
@ARTICLE{10704747,
author={Sun, Jian and Sun, Wei and Zheng, Jin and Fang, Xu and Liu, Jian and Mian, Ajmal},
journal={IEEE Internet of Things Journal},
title={UWB–IMU–Odometer Fusion for Simultaneous Calibration and Localization},
year={2025},
volume={12},
number={1},
pages={950-963},
keywords={Calibration;Accuracy;Location awareness;Position measurement;Nonlinear optics;Sun;Odometers;Wireless sensor networks;Manuals;Internet of Things;Calibration;factor graph;localization;non line-of-sight (NLOS);ultrawideband (UWB)/inertial measurement unit (IMU)/odometer},
doi={10.1109/JIOT.2024.3473022}}
}