Pseudo-Measurements in a Decentralized Cooperative Localization

Eduardo Gutierrez, Cagri Kilic, and Jason N. Gross

Peer Reviewed

Abstract:	This paper proposes the cooperative use of pseudo-measurements in a decentralized extended Kalman filter (DEKF) based localization algorithm for multi-robot systems. The filter utilizes proprioceptive (i.e., Inertial Measurement Unit (IMU)) and exteroceptive (i.e., Ultra-Wideband (UWB)) measurements to improve the localization performance of the system in the presence of a degraded GNSS environment. The contribution of this work is to evaluate the benefits of using pseudo-measurement updates, such as zero-velocity update (ZUPT) and zero-angular rate update (ZARU), in a DEKF-based localization algorithm and compare different heuristics of deciding when to utilize pseudo-measurements in a multi-robot system.
Published in:	Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) September 19 - 23, 2022 Hyatt Regency Denver Denver, Colorado
Pages:	2871 - 2882
Cite this article:	Gutierrez, Eduardo, Kilic, Cagri, Gross, Jason N., "Pseudo-Measurements in a Decentralized Cooperative Localization," Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022), Denver, Colorado, September 2022, pp. 2871-2882. https://doi.org/10.33012/2022.18555
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