Channel-Quality-Evaluation-Based Anchor Node Selection for UWB Indoor Positioning

Chen, Chunxue; Huang, Zheng; Wang, Jiayu; Liu, Yuan; Bao, Jun; Chen, Zhuming

doi:10.3390/electronics11030436

Cited by 12 publications

(4 citation statements)

References 26 publications

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“…In the above equation, 𝑑 ̂𝑛 represents the range value at the moment n, Δ𝑑 ̂𝑛 represents the difference between the range value at the moment n and the previous moment. If the window size is k, the variance of K consecutive differences versus a threshold can determine whether NLOS is present, as shown in Equation (13). The UWB system comprises four stationary anchors with predetermined coordinates and a tag with unknown coordinates.…”

Section: Methodsmentioning

confidence: 99%

A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation

Liu,

Lin,

Wang

et al. 2023

Electronics

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Ultra-wideband (UWB) systems promise centimetre-level accuracy for indoor positioning, yet they remain susceptible to non-line-of-sight (NLOS) errors due to complex indoor environments. A fusion mechanism that integrates the UWB with an odometer sensor is introduced to address this challenge and achieve a high positioning accuracy. A sliding window method is applied to identify NLOS anchors effectively. The modified UWB-only positioning has an average error under 13 cm with an RMSE of 16 cm. Then, a loosely coupled approach named Dynamic Dimension Fusion (DDF) is designed to mitigate the odometer’s cumulative errors that achieve a remarkable average error and RMSE below 5 cm, notably superior to established unscented Kalman filter (UKF) fusion techniques. DDF utilises UWB data to correct the one-dimensional heading error of the odometer when the robot moves in a straight line and to correct both heading and mileage in two dimensions when the robot is turning. Comprehensive real-world experimental evaluations underscore the efficacy and robustness of this novel approach.

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Section: Methodsmentioning

confidence: 99%

A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation

Liu,

Lin,

Wang

et al. 2023

Electronics

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“…The HBS mitigation strategy employed in this paper is based on discarding the range measurements with high likeliness of large errors, i.e anchor selection (AS). This strategy has been used as a NLoS mitigation strategy for many years [27], and is still being used in recent literature [28]. A simple AS algorithm (Algorithm 1) is proposed first.…”

Section: Mitigation Of Human Body Shadowing Effectsmentioning

confidence: 99%

IMU-aided detection and mitigation of Human Body Shadowing for UWB positioning

Cock

Coene

Herbruggen

et al. 2022

2022 IEEE 12th International Conference on Indoor Positioning and Indoor Navigation (IPIN)

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Ultra-wideband (UWB) indoor positioning systems have the potential to achieve decimeter-level accuracy. However, the performance can degrade significantly under Non-Line-of-Sight (NLoS) conditions. Detection and mitigation of NLoS conditions is a complex problem, and has been the subject of many works over the past decades. When localizing pedestrians, human body shadowing (HBS) is an important cause of NLoS. In this paper, we propose an HBS mitigation strategy based on the orientation of the body and tag relative to the UWB anchors by attaching an inertial measurement unit to the UWB tag. Two algorithms are designed and implemented, of which the second algorithm is designed for robustness against errors in the IMU's estimated heading. The proposed algorithms are validated by UWB Two Way Ranging (TWR) measurements, performed in two environments. Two more algorithms are implemented as a benchmark, of which one is based on the estimated first path power, and the other is based on range residuals. The proposed algorithm outperforms the other algorithms in the higher error statistics, achieving a 49% reduction of the p90 error depending on the environment.

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“…Indeed, it is well-known that the selection of certain anchors from a whole set can affect the localization accuracy significantly [80]. While it is true that this topic falls outside of the scope of the present work, it has been largely discussed in the existing UWB literature [81][82][83][84][85] and will be the subject of most of our next research efforts. More specifically, it seems clear that the implementation of an anchor-selection method that takes into consideration the rangings' faithfulness during each T period and the geometry of the deployed infrastructure would notably enhance the accuracy of the IPS presented herein.…”

mentioning

confidence: 93%

Fast Deployment of a UWB-Based IPS for Emergency Response Operations

Adame

Igual

Catalán

2023

Sensors

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A wide range of applications from multiple sectors already use ultra-wideband (UWB) technology to locate and track assets precisely. This is not the case, however, for first responder localization during emergency response (ER) operations, which are highly conditioned by procedural and environmental constraints. After analyzing these limitations and reviewing the current state-of-the-art solutions, this work presents a UWB-based indoor positioning system (IPS) that relies on the global navigation satellite system real-time kinematic (GNSS-RTK) technology to quickly, accurately, and safely deploy its required infrastructure on site. A set of tests conducted on a two-story building prove the suitability of such a system, providing an average accuracy of less than 1 meter for static targets and the ability to faithfully reproduce the path followed by a mobile target inside the building. The obtained results strengthen the presented approach and pave the way for more sophisticated UWB-based IPSs that would include unmanned aerial vehicles (UAVs) and/or mobile robots to speed up network deployment even more while offering additional ER services.

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Channel-Quality-Evaluation-Based Anchor Node Selection for UWB Indoor Positioning

Cited by 12 publications

References 26 publications

A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation

A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation

IMU-aided detection and mitigation of Human Body Shadowing for UWB positioning

Fast Deployment of a UWB-Based IPS for Emergency Response Operations

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