Comparison of Algorithms for UWB Indoor Location and Tracking Systems

Chóliz, Juan; Eguizábal, Miguel; Hernández-Solana, Ángela

doi:10.1109/vetecs.2011.5956174

Cited by 29 publications

(18 citation statements)

References 16 publications

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“…A survey reviewing several TOA methods can be found in [ 5 ]. In [ 6 ], the authors evaluate different TOA-based algorithms in a realistic indoor environment. As a real application example, a UWB system based on TOA is used in [ 7 ] for personnel localization inside a coal mine.…”

Section: Uwb-based Position Estimationmentioning

confidence: 99%

UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments

Bonnín-Pascual

Ortiz

2020

Sensors

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Ultra-Wide-Band (UWB) positioning systems are now a real option to estimate the position of generic agents (e.g., robots) within indoor/GPS-denied environments. However, these environments can comprise metallic structures or other elements which can negatively affect the signal transmission and hence the accuracy of UWB-based position estimations. Regarding this fact, this paper proposes a novel method based on point-to-sphere ICP (Iterative Closest Point) to determine the 3D position of a UWB tag. In order to improve the results in noise-prone environments, our method first selects the anchors’ subset which provides the position estimate with least uncertainty (i.e., largest agreement) in our approach. Furthermore, we propose a previous stage to filter the anchor-tag distances used as input of the ICP stage. We also consider the addition of a final step based on non-linear Kalman Filtering to improve the position estimates. Performance results for several configurations of our approach are reported in the experimental results section, including a comparison with the performance of other position-estimation algorithms based on trilateration. The experimental evaluation under laboratory conditions and inside the cargo hold of a vessel (i.e., a noise-prone scenario) proves the good performance of the ICP-based algorithm, as well as the effects induced by the prior and posterior filtering stages.

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Section: Uwb-based Position Estimationmentioning

confidence: 99%

UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments

Bonnín-Pascual

Ortiz

2020

Sensors

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“…Furthermore, among the various methodological technologies used for indoor localization include ultrasound [23], infrared [24], Wi-Fi (IEEE 802.11) [25,26], Bluetooth (IEEE 802.15) [27,28], Zig-Bee [29,30], Ultrawide Band (UWB) [31,32], inertial navigation [33], magnetic-based methods [34,35] and Radio Frequency Identification (RFID) [36][37][38]. These technologies differ in scope, method, location type; symbolic or geometric, and cost bringing a suitable level of diversity to indoor location identification.…”

Section: Introductionmentioning

confidence: 99%

Indoor location identification technologies for real-time IoT-based applications: An inclusive survey

Oguntala

Abd‐Alhameed

Jones

et al. 2018

Computer Science Review

113

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The advent of the Internet of Things has witnessed tremendous success in the application of wireless sensor networks and ubiquitous computing for diverse smart-based applications. The developed systems operate under different technologies using different methods to achieve their targeted goals. In this treatise, we carried out an inclusive survey on key indoor technologies and techniques, with to view to explore their various benefits, limitations, and areas for improvement. The mathematical formulation for simple localization problems is also presented. In addition, an empirical evaluation of the performance of these indoor technologies is carried out using a common generic metric of scalability, accuracy, complexity, robustness, energy-efficiency, cost and reliability. An empirical evaluation of performance of different RF-based technologies establishes the viability of Wi-Fi, RFID, UWB, Wi-Fi, Bluetooth, ZigBee, and Light over other indoor technologies for reliable IoT-based applications. Furthermore, the survey advocates hybridization of technologies as an effective approach to achieve reliable IoT-based indoor systems. The findings of the survey could be useful in the selection of appropriate indoor technologies for the development of reliable real-time indoor applications. The study could also be used as a reliable source for literature referencing on the subject of indoor location identification.

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“…Here, information about the statistics of the localization error can be used to improve system performance. In this context, the work of [5]- [7], [10] employ extended Kalman filtering approaches to fuse ToA measurements with additional inertial measurements collected at each sensor.…”

Section: Introductionmentioning

confidence: 99%

Enabling Optimization-Based Localization for IoT Devices

Beuchat

Hesse

Domahidi³

et al. 2019

IEEE Internet Things J.

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In this paper we propose an embedded optimization approach for the localization of IoT devices making use of range measurements from ultra-wideband (UWB) signals. Low-cost, low-power UWB radios provide time-of-arrival measurements with decimeter accuracy over large distances. UWB-based localization methods have been envisioned to enable feedback control in IoT applications, particularly, in GPS-denied environments and large wireless sensor networks. In this work we formulate the localization task as a non-linear least-squares optimization problem based on two-way time-of-arrival measurements between the IoT device and several UWB radios installed in a 3D environment. For the practical implementation of large-scale IoT deployments we further assume only approximate knowledge of the UWB radio locations. We solve the resulting optimization problem directly on IoT devices equipped with off-the-shelf microcontrollers using state-of-the-art code generation techniques for plug-and-play deployment of the non-linear-programming algorithms. The paper further provides practical implementation details to improve the localization accuracy for feedback control in experimental IoT applications. The experimental results finally show that sub-decimeter localization accuracy can be achieved using the proposed optimization-based approach, even when the majority of the UWB radio locations are unknown.

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Comparison of Algorithms for UWB Indoor Location and Tracking Systems

Cited by 29 publications

References 16 publications

UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments

UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments

Indoor location identification technologies for real-time IoT-based applications: An inclusive survey

Enabling Optimization-Based Localization for IoT Devices

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