Positioning Slow-Moving Platforms by UWB Technology in GPS-Challenged Areas

Toth, Charles K.; Jóźków, Grzegorz; Koppanyi, Zoltan; Grejner‐Brzezinska, Dorota A.

doi:10.1061/(asce)su.1943-5428.0000231

Cited by 22 publications

(13 citation statements)

References 7 publications

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“…Despite this simplification, the results of Section 3 show that positioning error (0.33 m according to the rough estimation done in our case study) is probably sufficiently good to be usable in several applications. Better results can be expected when properly calibrating the UWB devices [13,20].…”

Section: Discussionmentioning

confidence: 99%

“…Ranging can be obtained either by received signal strength considerations or by the time of flight of the radio signal, where the latter method typically provides much more accurate measurements when the two devices are in a Clear Line Of Sight (CLOS, which is often a quite reasonable working condition when dealing with UAVs). UWB-based positioning has recently attracted attention thanks to the potentially high accuracy (with accurate calibration [13,20,21]) and the ability of partially passing through (not so thick) obstacles. In particular, its use has been recently investigated for indoor positioning with good results (a typical 3D positioning error of a few decimeters [14]).…”

Section: Introductionmentioning

confidence: 99%

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A Low Cost UWB Based Solution for Direct Georeferencing UAV Photogrammetry

2017

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Thanks to their flexibility and availability at reduced costs, Unmanned Aerial Vehicles (UAVs) have been recently used on a wide range of applications and conditions. Among these, they can play an important role in monitoring critical events (e.g., disaster monitoring) when the presence of humans close to the scene shall be avoided for safety reasons, in precision farming and surveying. Despite the very large number of possible applications, their usage is mainly limited by the availability of the Global Navigation Satellite System (GNSS) in the considered environment: indeed, GNSS is of fundamental importance in order to reduce positioning error derived by the drift of (low-cost) Micro-Electro-Mechanical Systems (MEMS) internal sensors. In order to make the usage of UAVs possible even in critical environments (when GNSS is not available or not reliable, e.g., close to mountains or in city centers, close to high buildings), this paper considers the use of a low cost Ultra Wide-Band (UWB) system as the positioning method. Furthermore, assuming the use of a calibrated camera, UWB positioning is exploited to achieve metric reconstruction on a local coordinate system. Once the georeferenced position of at least three points (e.g., positions of three UWB devices) is known, then georeferencing can be obtained, as well. The proposed approach is validated on a specific case study, the reconstruction of the façade of a university building. Average error on 90 check points distributed over the building façade, obtained by georeferencing by means of the georeferenced positions of four UWB devices at fixed positions, is 0.29 m. For comparison, the average error obtained by using four ground control points is 0.18 m.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Low Cost UWB Based Solution for Direct Georeferencing UAV Photogrammetry

2017

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“…Calibration of the UWB systematic error has been previously considered in several works [40][41][42][43][44][45]; however, according to our experiments, systematic errors of low-cost Pozyx devices are significantly anisotropic and difficult to properly model [8], i.e., the dependence on the relative orientation between rover and anchors is typically not negligible. Motivated by this consideration, the Pozyx system is used without any ad hoc calibration procedure.…”

Section: Photogrammetric Reconstruction With the Uwb Positioning Systemmentioning

confidence: 99%

Performance Evaluation of Two Indoor Mapping Systems: Low-Cost UWB-Aided Photogrammetry and Backpack Laser Scanning

et al. 2018

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During the past dozen years, several mobile mapping systems based on the use of imaging and positioning sensors mounted on terrestrial (and aerial) vehicles have been developed. Recently, systems characterized by an increased portability have been proposed in order to enable mobile mapping in environments that are difficult to access for vehicles, in particular for indoor environments. In this work the performance of a low-cost mobile mapping system is compared with that of: (i) a state-of-the-art terrestrial laser scanning (TLS), considered as the control; (ii) a mobile mapping backpack system (Leica Pegasus), which can be considered as the state-of-the-art of commercial mobile mapping backpack systems. The aim of this paper is two-fold: first, assessing the reconstruction accuracy of the proposed low-cost mobile mapping system, based on photogrammetry and ultra-wide band (UWB) for relative positioning (and a GNSS receiver if georeferencing is needed), with respect to a TLS survey in an indoor environment, where the global navigation satellite system (GNSS) signal is not available; second, comparing such performance with that obtained with the Leica backpack. Both mobile mapping systems are designed to work without any control point, to enable an easy and quick survey (e.g., few minutes) and to be easily portable (relatively low weight and small size). The case study deals with the 3D reconstruction of a medieval bastion in Padua, Italy. Reconstruction using the Leica Pegasus backpack allowed obtaining a smaller absolute error with respect to the UWB-based photogrammetric system. In georeferenced coordinates, the root mean square (RMS) error was respectively 16.1 cm and 50.3 cm; relative error in local coordinates was more similar, respectively 8.2 cm and 6.1 cm. Given the much lower cost (approximately $6k), the proposed photogrammetric-based system can be an interesting alternative when decimetric reconstruction accuracy in georeferenced coordinates is sufficient.

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“…In particular, the multipath resistance is an essential feature of UWB-based ranging applications. In addition, the pulsed RF UWB signal can penetrate and travel through walls and other objects, allowing the system to reasonably operate in critical NLOS (non-line-of-sight) scenarios, including high multipath environments like urban landscapes, densely vegetated areas and even inside buildings (Koppanyi et al, 2014a;Toth et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Georeferencing in GNSS-Challenged Environment: Integrating Uwb and Imu Technologies

Toth

Koppanyi

Navrátil

et al. 2017

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:Acquiring geospatial data in GNSS compromised environments remains a problem in mapping and positioning in general. Urban canyons, heavily vegetated areas, indoor environments represent different levels of GNSS signal availability from weak to no signal reception. Even outdoors, with multiple GNSS systems, with an ever-increasing number of satellites, there are many situations with limited or no access to GNSS signals. Independent navigation sensors, such as IMU can provide high-data rate information but their initial accuracy degrades quickly, as the measurement data drift over time unless positioning fixes are provided from another source. At The Ohio State University's Satellite Positioning and Inertial Navigation (SPIN) Laboratory, as one feasible solution, UltraWideband (UWB) radio units are used to aid positioning and navigating in GNSS compromised environments, including indoor and outdoor scenarios. Here we report about experiences obtained with georeferencing a pushcart based sensor system under canopied areas. The positioning system is based on UWB and IMU sensor integration, and provides sensor platform orientation for an electromagnetic inference (EMI) sensor. Performance evaluation results are provided for various test scenarios, confirming acceptable results for applications where high accuracy is not required.

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Positioning Slow-Moving Platforms by UWB Technology in GPS-Challenged Areas

Cited by 22 publications

References 7 publications

A Low Cost UWB Based Solution for Direct Georeferencing UAV Photogrammetry

A Low Cost UWB Based Solution for Direct Georeferencing UAV Photogrammetry

Performance Evaluation of Two Indoor Mapping Systems: Low-Cost UWB-Aided Photogrammetry and Backpack Laser Scanning

Georeferencing in GNSS-Challenged Environment: Integrating Uwb and Imu Technologies

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