Student’s t-Distributed Extended Kalman Filter with Switch Factor for UWB Localization Under Colored Measurement Noise

To increase information accuracy when using ultrawide-band (UWB) localization for robotic dogs, we introduce a switching method for a Student's <i>t</i>-distributed extended Kalman filter (EKF) that achieves UWB localization under colored measurement noise (CMN). First, a distributed UWB localization framework under CMN is designed, which can reduce the impact of CMN caused by carrier jitter on positioning accuracy. Then, a Student's <i>t</i>-distributed EKF under CMN with a switch factor is proposed, which effectively improves the adaptability of the algorithm through adaptive selection of colored factors. Finally, experimental validation demonstrates the efficacy and high performance of the proposed method for two practical scenarios.