Date of Award


Publication Type

Master Thesis

Degree Name



Electrical and Computer Engineering


Implementation, IMU, Kalman, Robot Operating System, Ultrawideband, Wicip


Tepe, Kemal




Robotics have had a major impact in the current generation as they have a wide range of uses in manufacturing and automation; therefore, researching new technology related to robotics is currently at a high demand. Indoor robotics, such as automatic guided vehicles or humanoids, is a section of robotics that are mobile and need accurate positioning in order to navigate properly. Thus, research into indoor positioning systems (IPS) has become an interesting research topic to be able to provide a standard in indoor positioning. This thesis tests an ultrawideband (UWB) based IPS and fuses the data from an inertial measurement unit (IMU) using an extended Kalman lter (EKF). The testing platform was implemented using Robot Operating System (ROS) and a Beaglebone Black as the microcontroller for the sensors. However, the main processing was done on a separate laptop. As a result, a proposed smoothing technique was able to provide consistent velocity commands to the vehicle platform without a ecting the data output rate of the UWB based IPS. In line-of-sight (LOS) conditions and a travel length of about 13 m, the best results produced an error of only 0:111 m at the nal point, and an error of up to 0:603 m during travel.