Ultrasonic Localization System
Sub-millimeter end-effector localization fusing ultrasound and IMU
An ultrasonic localization system fused with an IMU via an Extended Kalman Filter, reaching roughly 0.5 mm accuracy in xyz and ~0.01 rad in the three rotation axes.
The system uses an STM32F103RCT6 as the control unit, with DMA and hardware acceleration for faster sensor processing at a 1000 Hz sampling rate.