Artificial Neural Network Approach to Guarantee the Positioning Accuracy of Moving Robots by Using the Integration of IMU/UWB with Motion Capture System Data Fusion

Abstract

This study presents an effective artificial neural network (ANN) approach to combine measurements from inertial measurement units (IMUs) and time-of-flight (TOF) measurements from an ultra-wideband (UWB) system with OptiTrack Motion Capture System (OptiT-MCS) data to guarantee the positioning accuracy of motion tracking in indoor environments. The proposed fusion approach unifies the following advantages of both technologies: high data rates from the MCS, and global translational precision from the inertial measurement unit (IMU)/UWB localization system. Consequently, it leads to accurate position estimates when compared with data from the IMU/UWB system relative to the OptiT-MCS reference system. The calibrations of the positioning IMU/UWB and MCS systems are utilized in real-time movement with a diverse set of motion recordings using a mobile robot. The proposed neural network (NN) approach experimentally revealed accurate position estimates, giving an enhancement average mean absolute percentage error (MAPE) of 17.56% and 7.48% in the X and Y coordinates, respectively, and the coefficient of correlation R greater than 99%. Moreover, the experimental results prove that the proposed NN fusion is capable of maintaining high accuracy in position estimates while preventing drift errors from increasing in an unbounded manner, implying that the proposed approach is more effective than the compared approaches.

Keywords

• ultra-wideband
• inertial measurement units
• motion capture system
• sensor fusion
• neural network
• indoor positioning system