An Integrated GNSS/UWB/DR/VMM Positioning Strategy for Intelligent Vehicles

Zhu, Bing; Tao, Xiaowen; Zhao, Jian; Ke, Min; Wang, Huaji; Deng, Weiwen

doi:10.1109/tvt.2020.3014516

Cited by 41 publications

(19 citation statements)

References 13 publications

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“…GPS, GLONASS and Galileo) provide satellite-based positioning estimations for outdoor environments within an acceptable error range. However, the signal suffers from multiple degradation factors, such as multipath fading, path loss and shadowing, which reduce its applicability in indoor positioning applications [149], [185]. Weights space = 𝒘 𝟏 𝒘 𝟐 ⋯ 𝒘 𝑵 𝑻 FIGURE 9.…”

Section: Advances In Sensor Fusion Techniquesmentioning

confidence: 99%

“…In ITSs, various low-cost positioning systems can be fused to improve the overall accuracy and reliability, as demonstrated in [149]. The authors used a federated Kalman filter (FKF) to combine GNSS, UWB, DR and visual map matching (VMM) in one framework, which the authors called an 'intelligent positioning strategy'.…”

Section: A Sensor Fusion Positioning In Transportation Applicationsmentioning

confidence: 99%

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Precision Positioning for Smart Logistics Using Ultra-Wideband Technology-Based Indoor Navigation: A Review

et al. 2022

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Logistics is an important driver for the competitiveness of industries and material supply. The development of smart logistics, powered by precise positioning and communication technologies can significantly improve the efficiency of logistics. The emerging technology of ultra-wideband (UWB) precision positioning has attracted significant attention throughout the previous decade owing to its promising capabilities over other radio frequency-based indoor localisation systems. In addition, UWB is characterised by large bandwidth and data rate, short message length, low transmission power and high penetration capability, which are all favourable for indoor positioning applications. However, UWB localisation technology faces several challenges that are somewhat similar to other technologies, such as mitigating errors that originate from non-line-of-sight (NLOS) situations and tackling signal interference in dense environments, and when required to operate in extreme conditions. This paper reviews the most recent advances made in UWB positioning systems over the last five years, with a focus on high-ranking articles. In addition to going through more conventional solutions to UWB challenges, modern solutions, which involve the use of machine learning and sensor data fusion, are discussed. We highlight the most promising findings of the recently implemented and foreseen UWB positioning systems by providing a summary of each reviewed article. Additionally, we address a major challenge that faces the UWB positioning technology: NLOS situations, focusing on some proposed remedies such as multi-sensor fusion and machine learning. As an application, this study introduces how UWB technology promotes smart logistics by offering indoor positioning to improve efficiencies in the delivery of goods from the source to the customer. Furthermore, it demonstrates the benefits of UWB technology for accurate positioning and tracking of both stationary and moving items, and machinery in an indoor logistics environment.

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Section: Advances In Sensor Fusion Techniquesmentioning

confidence: 99%

Section: A Sensor Fusion Positioning In Transportation Applicationsmentioning

confidence: 99%

Precision Positioning for Smart Logistics Using Ultra-Wideband Technology-Based Indoor Navigation: A Review

et al. 2022

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“…Hence, the design of GNSSbased navigation units in the mass-market segment has been increasingly addressing customizable, embedded architectures integrating low-cost ranging sensors [3], [4]. Latest proliferation in consumer electronics of Ultra-Wide Band (UWB) Impulse Radio (IR) transceivers -featuring small size and low power consumption -makes it an appealing candidate for hybridisation with GNSS signals [5], [6]. As a carrier-free, spread-spectrum communication technology transmitting non-sinusoidal pulses with nanosecond life-cycle, UWB can ensure centimeter-level accurate ranging in dense, cluttered environments thanks to supreme time resolution and remarkable obstacle penetration capabilities [7]- [9].…”

Section: Introductionmentioning

confidence: 99%

Enhanced EKF-based Time Calibration for GNSS/UWB Tight Integration

guo¹,

VOUCH²,

Zocca³

et al. 2022

Preprint

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Tight integration of Global Navigation Satellite System (GNSS) and Ultra-Wide Band (UWB) is growing popularity as a positioning strategy relying on mass-market devices for applications dealing with localisation and tracking of agents in challenging environments. However, due to independent clocks of Commercial off-the-shelf (COTS) devices, the offset between the time-scales with respect to which measurements are time tagged must be mitigated to achieve accurate state-estimation via centralised, recursive filtering architectures. In this paper, it is analysed a GNSS/UWB Tightly-Coupled (TC) scheme based on an Extended Kalman Filter (EKF), and the integration of asynchronous GNSS/UWB measurements is investigated to highlight how it can induce state-estimation errors under different receiver kinematics. GNSS/UWB time calibration is addressed as a filtering problem, for which an EKF-based framework is developed to recursively model the GNSS/UWB time-offset as a further unknown in the system state-space model. Moreover, a double-update filtering model is proposed with embedded optimisations for the adaptive tuning of UWB ranging statistics. Experimental results with simulated data show that the double-update EKF algorithm can achieve a horizontal positioning accuracy gain 41.60 % over a plain EKF integration with uncalibrated time-offset and of 15.43 % over the EKF with naive time-offset calibration.

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“…Reference [21] proposed to combine UWB, GNSS, inertial sensors and vision for outdoors positioning of intelligent vehicles. Once more, some nodes (anchors) were needed to be installed outdoors so that the UWB RTLS could work.…”

Section: Introductionmentioning

confidence: 99%

“…Reference [25] presented a method for post-processing CSS data that significantly improved the accuracy of the distance estimator. Recently, [21] proposed to use a similar method to improve the accuracy of IR-UWB based distance estimates. The work in [26] evaluated different distance error calibration methods for indoor UWB positioning applications and [27] proposed a method to post process the distance estimates while auto-positioning the anchors.…”

Section: Introductionmentioning

confidence: 99%

UWB-Based Safety System for Autonomous Guided Vehicles Without Hardware on the Infrastructure

2021

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Automated Guided Vehicles (AGV) are unmanned transport vehicles widely used in the industrial sector to substitute manned industrial trucks and conveyors. In order to guarantee safe operation, AGVs must be equipped with a safety system to stop their movement in presence of obstacles or humans in their path. This work presents a novel safety system for AGVs that is based on Ultra Wideband (UWB) technology. Unlike previous works based on UWB Real-Time Location Systems (RTLS), the proposed safety system does not require installing hardware on the plant's infrastructure. Instead, the AGV is equipped with sensors capable of locating the tag of a person or a mobile asset. This simplifies deployment of the solution and enables its use in dynamic environments. The proposed safety system was mounted in an AGV designed by the company ASTI Mobile Robotics. Dynamic measurements showed that the proposed safety system accurately mirrors the relative movement between the AGV and tag. Furthermore, the proposed safety system employs a novel method for post-processing ranging data. Measurements showed that this method improves the accuracy of the system, resulting in a more homogeneously distributed positioning error around a room.

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An Integrated GNSS/UWB/DR/VMM Positioning Strategy for Intelligent Vehicles

Cited by 41 publications

References 13 publications

Precision Positioning for Smart Logistics Using Ultra-Wideband Technology-Based Indoor Navigation: A Review

Precision Positioning for Smart Logistics Using Ultra-Wideband Technology-Based Indoor Navigation: A Review

Enhanced EKF-based Time Calibration for GNSS/UWB Tight Integration

UWB-Based Safety System for Autonomous Guided Vehicles Without Hardware on the Infrastructure

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