Improving the Performance of an FMCW Indoor Localization System by Optimizing the Ranging Estimator

Zamora-Cadenas, Leticia; Arrue, Naiara; Jimenez-Irastorza, A.; Vélez, Igone

doi:10.1109/icwmc.2010.52

Cited by 6 publications

(9 citation statements)

References 8 publications

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“…Additionally, this ranging estimation presents a degree of bias and produces outliers that decrease the accuracy of the positioning algorithms. Thus, similar to [25], in this proposed NFI-RTLS AGV safety system, negative ranging data and outliers are eliminated. [25] also proposed post-processing the ranging estimates using the following equation:…”

Section: B Ranging Postprocessingmentioning

confidence: 99%

“…Thus, similar to [25], in this proposed NFI-RTLS AGV safety system, negative ranging data and outliers are eliminated. [25] also proposed post-processing the ranging estimates using the following equation:…”

Section: B Ranging Postprocessingmentioning

confidence: 99%

“…In order to calculate the empirical parameters in ( 1), [25] proposed estimating different values of α and β for each sensor. However, in our work the same values of α and β are proposed to be used for all sensors, as it simplifies the calibration procedure and the estimated values of these parameters significantly improve the ranging accuracy of the system.…”

Section: B Ranging Postprocessingmentioning

confidence: 99%

“…Different methods can be found in the literature to improve the accuracy of the distance estimates and eliminate these outliers, as, in fact, the accuracy in the distance estimates significantly affects to the accuracy of the positioning estimates in a RTLS system. Reference [25] presented a method for post-processing CSS data that significantly improved the accuracy of the distance estimator. Recently, [21] proposed to use a similar method to improve the accuracy of IR-UWB based distance estimates.…”

Section: Introductionmentioning

confidence: 99%

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UWB-Based Safety System for Autonomous Guided Vehicles Without Hardware on the Infrastructure

2021

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Automated Guided Vehicles (AGV) are unmanned transport vehicles widely used in the industrial sector to substitute manned industrial trucks and conveyors. In order to guarantee safe operation, AGVs must be equipped with a safety system to stop their movement in presence of obstacles or humans in their path. This work presents a novel safety system for AGVs that is based on Ultra Wideband (UWB) technology. Unlike previous works based on UWB Real-Time Location Systems (RTLS), the proposed safety system does not require installing hardware on the plant's infrastructure. Instead, the AGV is equipped with sensors capable of locating the tag of a person or a mobile asset. This simplifies deployment of the solution and enables its use in dynamic environments. The proposed safety system was mounted in an AGV designed by the company ASTI Mobile Robotics. Dynamic measurements showed that the proposed safety system accurately mirrors the relative movement between the AGV and tag. Furthermore, the proposed safety system employs a novel method for post-processing ranging data. Measurements showed that this method improves the accuracy of the system, resulting in a more homogeneously distributed positioning error around a room.

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Section: B Ranging Postprocessingmentioning

confidence: 99%

Section: B Ranging Postprocessingmentioning

confidence: 99%

Section: B Ranging Postprocessingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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UWB-Based Safety System for Autonomous Guided Vehicles Without Hardware on the Infrastructure

2021

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“…In this research work we have studied and improved the performance of indoor location systems based on IEEE 802.15.4a RF technology so that, they can be used as a sensing technology within AAL applications [1][2][3]. Different methods have been proposed to improve both the ranging and positioning accuracy of a Chirp Spread Spectrum (CSS) system and an Ultra-Wideband (UWB) system [4][5][6][7].…”

Section: Thesis Summarymentioning

confidence: 99%

Radiofrequency-based indoor location systems for ambient assisted living applications

Zamora-Cadenas

Cortés

Vélez

2014

Journal of Ambient Intelligence and Smart Environments

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Critical Design Considerations on Continuous Frequency Modulation Localization Systems

Al-Qudsi,

El-Shennawy,

Joram

et al. 2024

IET Signal Processing

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Real-time locating systems (RTLSs) suffer from clock synchronization inaccuracy among their distributed reference nodes. Conventional systems require periodic time synchronization and typically necessitate a two-way ranging (TWR) clock synchronization protocol to eliminate their measurement errors. Particularly, frequency-modulated continuous-wave (FMCW) time-based location systems pose unique design considerations on the TWR that have a significant impact on the quality of their measurements. In this paper, a valid operation design diagram is proposed for the case of an FMCW time-based TWR synchronization protocol. The proposed diagram represents an intersection area of two boundary curves that indicate the functionality of the system at a given frequency bandwidth, spectral length, and clock synchronization ambiguity. It presents an intuitive illustration of the measurement’s expected accuracy by indicating a larger intersection area for relaxed design conditions and vice versa. Furthermore, the absence of a working condition can easily be detected before proceeding with the actual system development. To demonstrate the feasibility of the proposed diagram, four scenarios with different design constraints were evaluated in a Monte-Carlo model of a basic TWR system. Moreover, an experimental measurement setup demonstrated the validity of the proposed diagram. Both the simulation and experimental outcomes show that the indicated valid conditions and the distribution of the measurements’ accuracy are in very good agreement.

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Improving the Performance of an FMCW Indoor Localization System by Optimizing the Ranging Estimator

Cited by 6 publications

References 8 publications

UWB-Based Safety System for Autonomous Guided Vehicles Without Hardware on the Infrastructure

UWB-Based Safety System for Autonomous Guided Vehicles Without Hardware on the Infrastructure

Radiofrequency-based indoor location systems for ambient assisted living applications

Critical Design Considerations on Continuous Frequency Modulation Localization Systems

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