Multi-GNSS Precise Point Positioning with UWB Tightly Coupled Integration

Huang, Zhenchuan; Jin, Shuanggen; Su, Ke; Tang, Xu

doi:10.3390/s22062232

Cited by 10 publications

(3 citation statements)

References 31 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…UWB chips provide channel impulse responses (CIRs), which can be used for non-line-of-sight (NLOS) identification or mitigation [ 10 , 11 , 12 ]. UWB can be combined with inertial measurement units (IMU) and GPS for indoor–outdoor roaming [ 13 , 14 ].…”

Section: Introductionmentioning

confidence: 99%

Range-Extension Algorithms and Strategies for TDOA Ultra-Wideband Positioning System

Huang

Chen

Wei

et al. 2023

Sensors

View full text Add to dashboard Cite

The Internet of Things (IoT) for smart industry requires the surveillance and management of people and objects. The ultra-wideband positioning system is an attractive solution for achieving centimeter-level accuracy in target location. While many studies have focused on improving the accuracy of the anchor coverage range, it is important to note that in practical applications, positioning areas are often limited and obstructed by furniture, shelves, pillars, or walls, which can restrict the placement of anchors. Furthermore, some positioning regions are located beyond anchor coverage, and a single group with few anchors may not be able to cover all rooms and aisles on a floor due to non-line-of-sight errors causing severe positioning errors. In this work, we propose a dynamic-reference anchor time difference of arrival (TDOA) compensation algorithm to enhance accuracy beyond anchor coverage by eliminating local minima of the TDOA loss function near anchors. We designed a multidimensional and multigroup TDOA positioning system with the aim of broadening the coverage of indoor positioning and accommodating complex indoor environments. By employing an address-filter technique and group-switching process, tags can seamlessly move between groups with a high positioning rate, low latency, and high accuracy. We deployed the system in a medical center to locate and manage researchers with infectious medical waste, demonstrating its usefulness for practical healthcare institutions. Our proposed positioning system can thus facilitate precise and wide-range indoor and outdoor wireless localization.

show abstract

Section: Introductionmentioning

confidence: 99%

Range-Extension Algorithms and Strategies for TDOA Ultra-Wideband Positioning System

Huang

Chen

Wei

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…However, UWB has a weak ability to penetrate water and metal [16]. Currently, UWB modes include Time of Arrival (TOA), Time of Flight (TOF), Difference of Time-Of-Arrival (TDOA), Angle of Arrival (AOA), Received Signal Strength Indication (RSSI) [17,18]. TOF is widely used in indoor applications because the tag does not need to be synchronization with the base station precisely [19,20].…”

Section: Introductionmentioning

confidence: 99%

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

Гао

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

Currently, ultra-wide band (UWB) is adopted as a useful high-accuracy positioning technique in satellite-blocked areas. However, UWB’s positioning performance would be limited significantly because of non-line of sight (NLOS) errors. Additionally, the truncation errors in these linearization-based adjustments such as least squares (LS) and extended Kalman filter (EKF) would also visibly degrade UWB positioning accuracy. To overcome the impacts of NLOS errors and truncation errors, this paper introduced a robust-theory-based particle filter (RPF) into UWB positioning. In such a method, the IGG-III model and PF were adopted to limit the impacts of NLOS errors and truncation errors, respectively, by introducing a weight inflation factor and particle group. For comparison, the Bancroft, LS, EKF, unscented Kalman filter (UKF), cubature Kalman filter (CKF), PF, and RPF were also presented. Here, the influences of truncation errors were analyzed by comparing the results based on LS and EKF with those calculated by UKF, CKF, and PF. The impacts of NLOS errors were evaluated by making a comparison between the results of PF and RPF. Results based on a set of simulated UWB data and a group of experiment UWB data demonstrated that the RPF can significantly avoid the positioning errors caused by both truncation errors and NLOS errors. In general, position improvements percentages of 57.2%, 52.7%, 39.6%, 38.2%, 26.6%, and 20.4% can be obtained by RPF compared to those calculated by Bancroft, LS, EKF, UKF, CKF, and PF, respectively. As a comparison, the truncation error would lead to about 8.1%, 10.1%, and 33.2% accuracy decrease in the north, east, and vertical directions on average. Such accuracy-decrease rates caused by NLOS were 6.1%, 5.2%, and 25%.

show abstract

“…Glenn et al studied that the UWB TC enhancement model greatly improves the success rates of GPS RTK ambiguity resolution [18] and showed that the TC integration system of GPS RTK and UWB can achieve submeter-level positioning accuracy in urban environments [19]. Huang et al [20] proposed the TC model integrating GNSS precise point positioning and UWB. The experimental results showed that this model can significantly improve the positioning accuracy and convergence time, and the improvement was mainly reflected in the north and east directions, while the vertical direction was small.…”

Section: Introductionmentioning

confidence: 99%

BDS-3 RTK/UWB semi-tightly coupled integrated positioning system in harsh environments

Dai,

Wang,

et al. 2023

Meas. Sci. Technol.

View full text Add to dashboard Cite

Real-time kinematic (RTK) positioning is a commonly used technique in modern industry, which is limited by problems such as signal occlusion, attenuation, and multipath, especially in complex urban canyons. To maintain the consistency of centimeter-level accuracy, we adopt the ultra-wideband (UWB) enhanced BDS-3 RTK positioning algorithm. This paper proposed a semi-tightly coupled (STC) BDS-3 RTK/UWB integration positioning model. This model realizes the UWB and BDS-3 complement each other and integrate information in the position domain. Besides, height constraint is imposed on UWB positioning to mitigate the effect of poor positioning of UWB in height components. To verify the effectiveness of the above algorithm, we have compared and analyzed the positioning performance of the STC BDS-3 RTK/UWB integration model and single BDS-3 RTK model in different occlusion environments. The positioning performance of static and kinematic of BDS-3 RTK/UWB STC based on different number of UWB anchors is further analyzed. The real-world experiment results show that the positioning accuracy of the proposed method can reach centimeter-level. Moreover, the proposed model can obtain more accurate positioning results than those of using single system, and it shows more obvious advantages, especially in the occlusion environment. In the occlusion environment, the root means square error in the east, north, and up directions is improved from (0.629 m, 0.325 m, 1.160 m) of the BDS-3-only to (0.075 m, 0.074 m, 0.029 m). This study can provide a reference for the future development of high-precision, real-time, continuous positioning, navigation, and timing in complex urban environments.

show abstract

Multi-GNSS Precise Point Positioning with UWB Tightly Coupled Integration

Cited by 10 publications

References 31 publications

Range-Extension Algorithms and Strategies for TDOA Ultra-Wideband Positioning System

Range-Extension Algorithms and Strategies for TDOA Ultra-Wideband Positioning System

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

BDS-3 RTK/UWB semi-tightly coupled integrated positioning system in harsh environments

Contact Info

Product

Resources

About