Bounds on performance of hybrid WiFi-UWB cooperative RF localization for robotic applications

Bargshady, Nader; Alsindi, Nayef; Pahlavan, Kaveh; Ye, Yunxing; Akgül, Ferit Ozan

doi:10.1109/pimrcw.2010.5670379

Cited by 18 publications

(13 citation statements)

References 8 publications

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“…Our aim is to analyze the accuracy achievable at various organs and determine if the accuracies are enough for endoscopy applications. Similar works have been done for indoor geolocation applications [16] and robot localization applications [17].…”

Section: Introductionmentioning

confidence: 79%

On the accuracy of RF positioning in multi-Capsule endoscopy

Khan

Alsindi

et al. 2011

2011 IEEE 22nd International Symposium on Personal, Indoor and Mobile Radio Communications

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In this paper, we derive and analyze cooperative localization bounds for endoscopic wireless capsule as it passes through the human gastrointestin (GI) tract. We derive the Cramer-Rao lower bound (CRLB) variance limits on location estimators which use measured received signal strength(RSS). Using a three-dimension human body model from a full wave simulation software and log-normal models for RSS propagation from implant organs to body surface, we calculate bounds on location estimators in three digestive organs: stomach, small intestine and large intestine. We provide analysis of the factors affecting localization accuracy including various organ environments, external sensor array topology and number of pills in cooperation. The simulation results show that the number of receiver sensors on body surface has more influence on the accuracy of localization than the number of pills in cooperation inside the GI tract.

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Section: Introductionmentioning

confidence: 79%

On the accuracy of RF positioning in multi-Capsule endoscopy

Khan

Alsindi

et al. 2011

2011 IEEE 22nd International Symposium on Personal, Indoor and Mobile Radio Communications

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“…1. The Observation model is defined in (3). However, this is just a Power measurement and there are other transformations due to LOS, NLOS, UWB, WiFi conditioning in order to evaluate our Distance Measurement Error hence, link error variance.…”

Section: Pf Implementationmentioning

confidence: 99%

“…The CRLB results for the Time Of Arrival (TOA) of UWB and the Received Signal Strength (RSS) of WiFi were investigated and anlayzed in [1] and [2] respectively. In [3], we showed that Cooperative localization was very effective in performance enhancement when using RSS or UWB or both (Hybrid) signaling. In [3], the CRLB was calculated for the Hybrid and Cooperative localization using a mix of WiFi and UWB signaling.…”

Section: Introductionmentioning

confidence: 99%

“…In [3], we showed that Cooperative localization was very effective in performance enhancement when using RSS or UWB or both (Hybrid) signaling. In [3], the CRLB was calculated for the Hybrid and Cooperative localization using a mix of WiFi and UWB signaling. It was shown that the TOA-based UWB signaling results in more precise localization than RSS-based WiFi.…”

Section: Introductionmentioning

confidence: 99%

“…We analyze the performance of the Particle Filter versus CRLB by using the theoretical, IEEE 802.11 channel model for RSS and the empirical one for UWB ranging error as presented in [7]. For our performance platform, we leverage off the previous findings in [3], where we used eight fixed anchors (FAs) along with three moving objects (MOs). The performance of the PF results are evaluated in a typical indoor scenario and are compared with CRLB result for the Hybrid (UWB & WiFi), in Cooperative (COOP) and non-Cooperative (NCOOP) modes.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid WiFi/UWB, cooperative localization using Particle Filter

Bargshady

Pahlavan

Alsindi

2015

2015 International Conference on Computing, Networking and Communications (ICNC)

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Indoor navigation using RF signals has attracted tremendous attention in the recent years. However, indoor localization using RF signaling is very challenging and does not provide adequate precision for many applications. In this paper we use Particle Filter (PF) to integrate the Received Signal Strength (RSS) of WiFi and the Time Of Arrival (TOA) of UWB RF signaling for precise cooperative localization in indoor environment. The choice for PF is due to non-linear and Non-Gaussian channel models for RF localization algorithm. We use channel models for the RSS of WiFi and the TOA of UWB. The performance of the PF results are evaluated in a typical indoor scenario and are compared with the Cramér-Rao-Lower-Bound (CRLB) for Hybrid (UWB & WiFi) in Cooperative (COOP) and non-Cooperative (NCOOP) modes.

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Robot and Drone Localization in GPS-Denied Areas

Siva

Poellabauer

2019

Studies in Systems, Decision and Control

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Bounds on performance of hybrid WiFi-UWB cooperative RF localization for robotic applications

Cited by 18 publications

References 8 publications

On the accuracy of RF positioning in multi-Capsule endoscopy

On the accuracy of RF positioning in multi-Capsule endoscopy

Hybrid WiFi/UWB, cooperative localization using Particle Filter

Robot and Drone Localization in GPS-Denied Areas

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