Application of GRU Network-Based UWB Localization Algorithm for Indoor Robot Localization

Fangyong Hu; Lanshuai Lou; Wenbo Ma

doi:10.6919/ICJE.202410_10(10).0004

Authors

Fangyong Hu
Lanshuai Lou
Wenbo Ma

DOI:

https://doi.org/10.6919/ICJE.202410_10(10).0004

Keywords:

Mobile Robot; NLOS; GRU; Nonlinearity; Ranging Error Mitigation.

Abstract

In indoor mobile robot localization systems based on ultra-wideband (UWB) technology, nonlinear noise caused by non-line-of-sight (NLOS) environments severely limits po-sitioning performance. We propose a gated recurrent unit(GRU) network-based ranging error mitigation method to enhance mobile robot localization in nonlinear noise scen-arios. The model is optimized with early stopping, and t-he corrected ranging are applied to least squares localiza-tion. The experimental results show that: the proposed lo-calization model reduces the mean absolute error (MAE) by at least 29.12% and the root mean square error (RMSE) by at least 32.3% compared to the error mitigation method based on the long short-term memory (LSTM) network, and the localization accuracy is significantly imp-roved.

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