Experimental study of trilateration algorithms for ultrasound-based positioning system on QNX RTOS

Nguyen, Tan-Sy; Huynh, Thai-Hoang

doi:10.1109/rcar.2016.7784027

Cited by 9 publications

(3 citation statements)

References 7 publications

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“…The target position can be calculated using a trilateration technique based on the distance measurement. Trilateration is a technology that locates object positions by calculating at least of three distances from the anchor nodes [13][14][15], as shown in Figure 1. Nodes A, B, and C are the anchor nodes, and they are equipped with GPS devices such that the anchor node positions are well known.…”

Section: Figure 1 Conventional Rtls Based On a Trilateration Methods mentioning

confidence: 99%

Analysis of the Position Estimation Error of a Local Positioning System utilizing Mobile Anchors

Lee¹,

Rizal²,

Ahn³

2018

Preprint

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This paper proposes a real-time local positioning system (RT-LPs) utilizing a mobile platform equipped with three anchor nodes placed in a right-angle triangle formation for a real-time locating system (RTLS). After deriving an analytic formula to calculate the target position utilizing the measured distances among anchor nodes and the target node, we find that four parameters have an effect on the position error of the target node. The spacing between anchors is a design parameter that must be large enough to the reduce position error. However, the distance from the anchor node to the target node is an operation parameter that must be small enough to reduce the position error. Additionally, the measured ranges among the anchors and the target node have probabilistic distributions with a mean and variance, which are dominant parameters that have effects on the position error. A comparison study was conducted to determine the effects of the parameters of the target position in both a simulation and an experiment, showing rates of approximately 4% ~ 10%. These findings indicate that our simulation can work properly with the proposed method after assuming that the distance error is a Gaussian model.

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Section: Figure 1 Conventional Rtls Based On a Trilateration Methods mentioning

confidence: 99%

Analysis of the Position Estimation Error of a Local Positioning System utilizing Mobile Anchors

Lee¹,

Rizal²,

Ahn³

2018

Preprint

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“…2 of 17 (TDoA) [21][22][23][24] allows to get the position with a trilateration calculation. In particular, TDoA-based ultra-wideband (UWB) sensors are very popular [25,26] as they allow very accurate distance measurements at a relatively low cost.…”

Section: Introduction and Related Workmentioning

confidence: 99%

Comparison and Improvement of 3D-Multilateration for Solving Simultaneous Localization of Drones and UWB Anchors

Malivert¹,

Labbani-Igbida²,

Boeglen³

2022

Preprint

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Fleets of drones have attracted a lot of attention from the research community in recent years. One of the biggest challenges in deploying such systems is localization. While GNSS localization systems can only be effective in open outdoor environments, new solutions based on radio sensors (e.g., ultra-wideband) are increasingly being used for localization in various situations and environments. However, self-localization without prior knowledge of anchor positions remains an open problem which, for example, makes it impossible to track a moving target. In this article, we provide a comparison of different variants of gradient descent-based algorithms, with a new improved variant, for solving the localization problem using relative distance measurements and multilateration. It is applied to self-localization of anchors and tracking targets using ultra-wideband distance sensors. A realistic simulation of drone tracking and anchors’ localization is performed to demonstrate the robustness and accuracy of the proposed approach.

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“…Ultrasound indoor localization (UIL) systems that have been implemented in practice [8][9][10][11][12][13][14][15][16][17][18][19][20][21] show that the 95-percentile position accuracy can vary from about 30 mm to 200 mm. The BAT system is an example of one of the more sophisticated solutions [22].…”

Section: Introductionmentioning

confidence: 99%

Accurate Ultrasound Indoor Localization Using Spring-Relaxation Technique

et al. 2021

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This paper reports on the development of an ultrasonic sensing-based active localization system. The system employs an ultrasonic array to transmit chirp signals and time-of-flight measurement for ranging. The position of the receiver is estimated iteratively using the spring-relaxation technique. A median and 90-percentile error of 12.4 and 21.7 mm, respectively, were obtained for measurements at 625 positions within a 1.2 × 1.2 m area testbed. The spring-relaxation technique outperforms the widely adopted linear least square-based lateration technique while using the same ranging data. The performance of the system is benchmarked against that of visible light positioning using the same platform setup. The reported results show the ultrasonic system to be more accurate when compared with the visible light positioning system, which achieved median and 90-percentile errors of 33.7 and 58.6 mm, respectively.

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Experimental study of trilateration algorithms for ultrasound-based positioning system on QNX RTOS

Cited by 9 publications

References 7 publications

Analysis of the Position Estimation Error of a Local Positioning System utilizing Mobile Anchors

Analysis of the Position Estimation Error of a Local Positioning System utilizing Mobile Anchors

Comparison and Improvement of 3D-Multilateration for Solving Simultaneous Localization of Drones and UWB Anchors

Accurate Ultrasound Indoor Localization Using Spring-Relaxation Technique

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