Chained wireless synchronization algorithm for UWB-TDOA positioning

Navrátil, Václav; Krška, Josef; Vejrazka, F.; Korecek, V.

doi:10.1109/plans.2018.8373376

Cited by 8 publications

(8 citation statements)

References 9 publications

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“…The synchronization of the UWB anchors by means of Kalman filtering outperforms the other methods of UWB transceiver synchronization [10]. In [11], it is shown that it is beneficial to track clock drift rate in addition to clock bias and drift, and that sub-nanosecond accuracy of synchronization is achievable even during device warm-up. The measurement analysis in [12] proves that accuracy of the method is achieved even when the timing information is relayed via several anchors.…”

Section: Introductionmentioning

confidence: 99%

“…In [11], it is shown that it is beneficial to track clock drift rate in addition to clock bias and drift, and that sub-nanosecond accuracy of synchronization is achievable even during device warm-up. The measurement analysis in [12] proves that accuracy of the method is achieved even when the timing information is relayed via several anchors. The methods listed in [13,14] do not use Kalman filter explicitly; however, bias and drift estimates are obtained and utilized.…”

Section: Introductionmentioning

confidence: 99%

“…In [15], a combination of a linear interpolation algorithm and Kalman filter is used. Typically, one of the anchors is used as the source of the master clock [10,11,13,14]. However, a less practical approach relying on a reference tag is also possible [16].…”

Section: Introductionmentioning

confidence: 99%

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Utilization of Carrier-Frequency Offset Measurements in UWB TDoA Positioning with Receiving Tag

Krška

Navrátil

2023

Sensors

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High-capacity impulse-radio ultra-wideband (IR-UWB) indoor localization systems are typically based on the time difference of arrival (TDoA) principle. When the fixed and synchronized localization infrastructure, the anchors, transmit precisely timestamped messages, a virtually unlimited number of user receivers (tags) are able to estimate their position based on differences in the time of arrival of those messages. However, the drift of the tag clock causes systematic errors at a sufficiently high magnitude to effectively deny the positioning, if left uncorrected. Previously, the extended Kalman filter (EKF) has been used to track and compensate for the clock drift. In this article, the utilization of a carrier frequency offset (CFO) measurement for suppressing the clock-drift related error in anchor-to-tag positioning is presented and compared to the filtered solution. The CFO is readily available in the coherent UWB transceivers, such as Decawave DW1000. It is inherently related to the clock drift, since both carrier and timestamping frequencies are derived from the identical reference oscillator. The experimental evaluation shows that the CFO-aided solution performs worse than the EKF-based solution in terms of accuracy. Nonetheless, with CFO-aiding it is possible to obtain a solution based on measurements from a single epoch, which is favorable especially for power-constrained applications.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Utilization of Carrier-Frequency Offset Measurements in UWB TDoA Positioning with Receiving Tag

Krška

Navrátil

2023

Sensors

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“…Only few publications mention the warm-up error, which is attributed to the temperature fluctuation arising at power-up [16], [17], [18]. The influence of this error is reduced by waiting some time before the measurements are obtained [19] or by adapting the measurement error within the clock drift correction model [17], [20]. In practice, the accuracy obtained by the DecaWave device is about 10 cm for line-of-sight (LOS) applications [7].…”

Section: Introductionmentioning

confidence: 99%

DecaWave Ultra-Wideband Warm-Up Error Correction

Sidorenko

Schatz

Scherer‐Negenborn

et al. 2021

IEEE Trans. Aerosp. Electron. Syst.

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In the field of indoor localization, ultra-wideband (UWB) technology is no longer dispensable. The market demands that the UWB hardware has to be cheap, precise and accurate. These requirements lead to the popularity of the DecaWave UWB system. The great majority of the publications about this system deals with the correction of the signal power, hardware delay or clock drift. It has traditionally been assumed that this error only appears at the beginning of the operation and is caused by the warm-up process of the crystal. In this article, we show that the warm-up error is influenced by the same error source as the signal power. To our knowledge, no scientific publication has explicitly examined the warm-up error before. This work aims to close this gap and, moreover, to present a solution which does not require any external measuring equipment and only has to be carried out once. It is shown that the empirically obtained warm-up correction curve increases the accuracy for the twoway-ranging (TWR) significantly.

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“…The disadvantage of TWR‐based systems is a much slower position‐fix rate in comparison with TDoA‐based systems. Moreover, the TDoA‐based systems localize the mobile transceiver using a single message, and therefore, the mobile unit requires significantly less electrical energy …”

Section: Introductionmentioning

confidence: 99%

Bias and variance of asymmetric double‐sided two‐way ranging

Navrátil

Vejrazka

2019

NAVIGATION

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Asymmetric double-sided two-way ranging (ADS-TWR) is a method of range estimation through precisely time-stamped messages sent between two transceivers. In contrast to symmetric double-sided two-way ranging (SDS-TWR), ADS-TWR suppresses the errors induced by transceiver clock drifts even when the message reply delays are unequal. However, due to the nonlinearity of the ADS-TWR estimator, its mean and variance cannot be evaluated in a straightforward or exact way. This article presents an analytical approach of evaluating an approximation of bias and variance of the range estimators and applies it on an exemplary set of parameters, typical for ultra-wide band (UWB) localization systems. Moreover, the obtained results are verified by a Monte Carlo simulation. It will be proven that ADS-TWR is safe to be used in most of the present applications, and its precision is rather similar to SDS-TWR.NAVIGATION. 2019;66:593-602.wileyonlinelibrary.com/journal/navi

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Chained wireless synchronization algorithm for UWB-TDOA positioning

Cited by 8 publications

References 9 publications

Utilization of Carrier-Frequency Offset Measurements in UWB TDoA Positioning with Receiving Tag

Utilization of Carrier-Frequency Offset Measurements in UWB TDoA Positioning with Receiving Tag

DecaWave Ultra-Wideband Warm-Up Error Correction

Bias and variance of asymmetric double‐sided two‐way ranging

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