This project is done as a part of the Doosan Bobcat sponsored clinic program at Harvey Mudd College. For the project, we are tasked to create an indoor positioning system for their autonomous loader. We used multiple ultra-wideband (UWB) sensors that calculate distances to loader through time-of-arrival measurement. I wrote an EKF that takes in multiple UWB distance measurements and trilaterate the loader’s position. The video demo above shows the EKF tracker in action, with the two purple dots represented two UWB tags on the loader that will later be fused to obtain orientation of the vehicle. The details of the control stack belongs to Doosan Bobcat.