Measurement of Relative Position and Orientation using UWB

Theussl, Ernst-Johann; Ninevski, Dimitar; O’Leary, Paul

doi:10.1109/i2mtc.2019.8827149

Cited by 8 publications

(6 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Multi-tag pose estimation: Mobile agents are each equipped with multiple non-collocated tags at known relative positions on the agent. With sufficient tags, relative position and orientation can be observed with UWB measurements alone [34]- [36]. Furthermore, additional measurements, such as odometry, optical flow, IMU readings, and altitude measurements can be communicated between agents and fused with the UWB measurements in [19] and [37] to improve results and achieve observability respectively.…”

Section: Related Workmentioning

confidence: 99%

Multi-Agent Relative Pose Estimation with UWB and Constrained Communications

Fishberg¹,

How²

2022

Preprint

View full text Add to dashboard Cite

Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system where each participating agent is equipped with several ultra-wideband (UWB) ranging tags. Prior work typically supplements noisy UWB range measurements with additional continuously transmitted data, such as odometry, making these approaches scale poorly with increased swarm size or decreased communication throughput. This approach addresses these concerns by using only locally collected UWB measurements with no additionally transmitted data. By modeling observed ranging biases and systematic antenna obstructions in our proposed optimization solution, our experimental results demonstrate an improved mean position error (while remaining competitive in other metrics) over a similar state-of-the-art approach that additionally relies on continuously transmitted odometry.

show abstract

Section: Related Workmentioning

confidence: 99%

Multi-Agent Relative Pose Estimation with UWB and Constrained Communications

Fishberg¹,

How²

2022

Preprint

View full text Add to dashboard Cite

show abstract

“…In this direction, multiple works in the literature been devoted to investigating different methods and their accuracy to estimating orientation with multiple tags attached on single object [47], [48]. This has also been a topic of study in cooperative relative localization systems involving two or more robots [49], [50]. For example, a full 6-DOF pose estimator is presented in [51], where UWB ranging data is fused with with additional sensors (e.g., IMU).…”

Section: A Uwb In Mobile Robotsmentioning

confidence: 99%

Applications of UWB Networks and Positioning to Autonomous Robots and Industrial Systems

Queralta

et al. 2021

2021 10th Mediterranean Conference on Embedded Computing (MECO)

View full text Add to dashboard Cite

Ultra-wideband (UWB) technology is a mature technology that contested other wireless technologies in the advent of the IoT but did not achieve the same levels of widespread adoption. In recent years, however, with its potential as a wireless ranging and localization solution, it has regained momentum. Within the robotics field, UWB positioning systems are being increasingly adopted for localizing autonomous ground or aerial robots. In the Industrial IoT (IIoT) domain, its potential for ad-hoc networking and simultaneous positioning is also being explored. This survey overviews the state-of-the-art in UWB networking and localization for robotic and autonomous systems. We also cover novel techniques focusing on more scalable systems, collaborative approaches to localization, ad-hoc networking, and solutions involving machine learning to improve accuracy. This is, to the best of our knowledge, the first survey to put together the robotics and IIoT perspectives and to emphasize novel ranging and positioning modalities. We complete the survey with a discussion on current trends and open research problems.

show abstract

“…However, these solutions require the UWB anchors to be placed at fixed sites to enable real-time positioning, and massive installation of UWB anchors is costly and complicated. Some researchers have proposed on-board UWB-based relative-position systems to solve the above-mentioned issue [26,27]. Although their solutions were found to achieve higher accuracy, they only considered mobile machinery in which the objects move slowly, and they did not consider standard-deviation mitigation in the range measurement, which is one of the main sources of error in UWB-based relative-position systems.…”

Section: Introductionmentioning

confidence: 99%

Relative-Position Estimation Based on Loosely Coupled UWB–IMU Fusion for Wearable IoT Devices

Sagar¹,

Kim²,

Park³

et al. 2023

Computers, Materials &Amp; Continua

View full text Add to dashboard Cite

Relative positioning is one of the important techniques in collaborative robotics, autonomous vehicles, and virtual/augmented reality (VR/AR) applications. Recently, ultra-wideband (UWB) has been utilized to calculate relative position as it does not require a line of sight compared to a camera to calculate the range between two objects with centimeter-level accuracy. However, the single UWB range measurement cannot provide the relative position and attitude of any device in three dimensions (3D) because of lacking bearing information. In this paper, we have proposed a UWB-IMU fusion-based relative position system to provide accurate relative position and attitude between wearable Internet of Things (IoT) devices in 3D. We introduce a distributed Euler angle antenna orientation which can be equipped with the mobile structure to enable relative positioning. Moving average and min-max removing preprocessing filters are introduced to reduce the standard deviation. The standard multilateration method is modified to calculate the relative position between mobile structures. We combine UWB and IMU measurements in a probabilistic framework that enables users to calculate the relative position between two nodes with less error. We have carried out different experiments to illustrate the advantages of fusing IMU and UWB ranges for relative positioning systems. We have achieved a mean accuracy of 0.31 m for 3D relative positioning in indoor line of sight conditions.

show abstract

Measurement of Relative Position and Orientation using UWB

Cited by 8 publications

References 10 publications

Multi-Agent Relative Pose Estimation with UWB and Constrained Communications

Multi-Agent Relative Pose Estimation with UWB and Constrained Communications

Applications of UWB Networks and Positioning to Autonomous Robots and Industrial Systems

Relative-Position Estimation Based on Loosely Coupled UWB–IMU Fusion for Wearable IoT Devices

Contact Info

Product

Resources

About