Network scalability with weight analysis based on UWB indoor positioning system

Chen, Xiaosi; Shen, Chong; Gao, Qian; Zhou, Qun; Feng, Gaoang

doi:10.1109/icwise.2016.8188549

Cited by 6 publications

(6 citation statements)

References 3 publications

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“…Figure 2 illustrates this concept. Other systems rely on passive tags that use transmissions between anchors and a TDoA scheme to locate themselves [21], [30], [31].…”

Section: A Scalabilitymentioning

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)

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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.

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“…Figure 2 illustrates this concept. Other systems rely on passive tags that use transmissions between anchors and a TDoA scheme to locate themselves [21], [30], [31].…”

Section: A Scalabilitymentioning

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)

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“…In order to achieve a high level of autonomy and situational awareness, localization is one of the first problems to be solved [5]. Outdoors, GNSS sensors are widely used [6], but multipath propagation and other inherent limitations make this solution unreliable indoors [7], [8]. Localization in GNSSdenied environments often relies on onboard sensors such as IMUs [7], or odometry estimations from lidars [9], [10] or cameras [7], [11].…”

Section: Introductionmentioning

confidence: 99%

“…Wi-Fi, Bluetooth ultra-wideband (UWB) technology all can aid in positioning by ranging between signal emitters and receivers, and often also including calculations regarding the angle of arrival of the signal [14], [15]. UWB systems provide more accuracy than both Wi-Fi and Bluetooth [16], and a greater range than Bluetooth [8]. UWB technology features more immunity to multipath fading, better interference mitigation and improved timing [16].…”

Section: Introductionmentioning

confidence: 99%

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Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation

Morón¹,

Queralta²,

Westerlund³

2022

Preprint

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Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This paper proposes a novel approach to relative localization in multirobot systems where the roles of the UWB nodes are dynamically allocated between active nodes (using time-of-flight for ranging estimation to other active nodes) and passive nodes (using timedifference-of-arrival for estimating range differences with respect to pairs of active nodes). We adaptively update UWB roles based on the location of the robots with respect to the convex envelope defined by active nodes, and introducing constraints in the form of localization frequency and accuracy requirements. We demonstrate the applicability of the proposed approach and show that the localization errors remain comparable to fixed-role systems. Then, we show how the navigation of an autonomous drone is affected by the changes in the localization system, obtaining significantly better trajectory tracking accuracy than when relying in passive localization only. Our results pave the way for UWB-based localization in large-scale multi-robot deployments, for either relative positioning or for applications in GNSS-denied environments.

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“…However, GNSS performs poorly in indoor environment and is not suitable for indoor positioning because of weak signal reception and radio wave multi-path effect. Developers have suggested various indoor positioning technologies such as Ultrasound [ 1 , 2 ], Radio frequency (RF) [ 3 , 4 ] and Ultra wide band (UWB) [ 5 , 6 ]. The Ultrasonic positioning system localize a pedestrian based on the propagation time of ultrasonic wave and it can achieve an accuracy within a meter.…”

Section: Introductionmentioning

confidence: 99%

Use of Magnetic Field for Mitigating Gyroscope Errors for Indoor Pedestrian Positioning

Song

et al. 2018

Sensors

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In the field of indoor pedestrian positioning, the improved Quasi-Static magnetic Field (iQSF) method has been proposed to estimate gyroscope biases in magnetically perturbed environments. However, this method is only effective when a person walks along straight-line paths. For other curved or more complex path patterns, the iQSF method would fail to detect the quasi-static magnetic field. To address this issue, a novel approach is developed for quasi-static magnetic field detection in foot-mounted Inertial Navigation System. The proposed method detects the quasi-static magnetic field using the rate of change in differences between the magnetically derived heading and the heading derived from gyroscope. In addition, to eliminate the distortions caused by system platforms and shoes, a magnetometer calibration method is developed and the calibration is transformed from three-dimensional to two-dimensional coordinate according to the motion model of a pedestrian. The experimental results demonstrate that the proposed method can provide superior performance in suppressing the heading errors with the comparison to iQSF method.

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Network scalability with weight analysis based on UWB indoor positioning system

Cited by 6 publications

References 3 publications

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

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

Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation

Use of Magnetic Field for Mitigating Gyroscope Errors for Indoor Pedestrian Positioning

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