Abstract
In this paper, a new simultaneous locating and calibrating algorithm for the pseudolites based mobile robot navigation system is proposed. First, the calibrating and locating of pseudolites based mobile robot navigation system are modeled as a nonlinear filtering problem. Subsequently, an Unscented Kalman Filter (UKF) algorithm which is effective to deal with the uncertainties and nonlinearities in the observation and process model is suggested to solve the nonlinear filtering problem. Finally, the simulation results with respect to the navigation systems composed of three pseudolites and one mobile robot verifies the feasible and validity of the new algorithm.
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