UWB/GPS Sensor Fusion Using Kalman Filter for Outdoor Autonomous Robot

Abstract

Outdoor autonomous robots generally use GPS sensors for position measurement. GPS sensors have poor positioning accuracy in complex environments (etc. tunnels, forests, and dense building areas). In this work, UWB/GPS fusion is performed using the Kalman filter-based sensor fusion method. Using Gazebo simulations, GPS and the proposed method were compared. The proposed method showed improved positional accuracy over the use of single-step GPS