Robot self-localization in ultra-wideband large scale multi-node setups

Zandian, Reza; Witkowski, Ulf

doi:10.1109/wpnc.2017.8250062

Cited by 14 publications

(10 citation statements)

References 7 publications

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“…The available resource space of the data payload section in MAC layer [3] (p. 57), [22] (p. 220) are not used in most of the system-level applications presented in the literature. To mention a few as examples, the system implementation of UWB in References [32,33,34,35] mainly focus on the accuracy of the positioning algorithm by assuming that no payload is included in data communication except for necessary timestamps to be used in the positioning algorithm. Therefore, if the sensor data should also be transmitted, secondary wireless technology is used in such a system.…”

Section: Discussionmentioning

confidence: 99%

Numerical and Experimental Evaluation of Error Estimation for Two-Way Ranging Methods

Sang

Adams

Hörmann

et al. 2019

Sensors

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The Two-Way Ranging (TWR) method is commonly used for measuring the distance between two wireless transceiver nodes, especially when clock synchronization between the two nodes is not available. For modeling the time-of-flight (TOF) error between two wireless transceiver nodes in TWR, the existing error model, described in the IEEE 802.15.4-2011 standard, is solely based on clock drift. However, it is inadequate for in-depth comparative analysis between different TWR methods. In this paper, we propose a novel TOF Error Estimation Model (TEEM) for TWR methods. Using the proposed model, we evaluate the comparative analysis between different TWR methods. The analytical results were validated with both numerical simulation and experimental results. Moreover, we demonstrate the pitfalls of the symmetric double-sided TWR (SDS-TWR) method, which is the most highlighted TWR method in the literature because of its highly accurate performance on clock-drift error reduction when reply times are symmetric. We argue that alternative double-sided TWR (AltDS-TWR) outperforms SDS-TWR. The argument was verified with both numerical simulation and experimental evaluation results.

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Section: Discussionmentioning

confidence: 99%

Numerical and Experimental Evaluation of Error Estimation for Two-Way Ranging Methods

Sang

Adams

Hörmann

et al. 2019

Sensors

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“…However, the bandwidth requirement in TDOA-based methods can be significantly higher as compared to other methods [18]. These methods have been demonstrated in health-care applications [27], parking systems [28], tracking in complex indoor environments [29], underground mines [30], indoor navigation [31], robotic applications [32], and so forth. Some of the commercial UWB systems that use the TDOA approach include Ubisense and Decawave.…”

Section: State-of-the-art In Uwb Positioningmentioning

confidence: 99%

Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment

Gabela

Retscher

Goel

et al. 2019

Sensors

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Cooperative positioning (CP) utilises information sharing among multiple nodes to enable positioning in Global Navigation Satellite System (GNSS)-denied environments. This paper reports the performance of a CP system for pedestrians using Ultra-Wide Band (UWB) technology in GNSS-denied environments. This data set was collected as part of a benchmarking measurement campaign carried out at the Ohio State University in October 2017. Pedestrians were equipped with a variety of sensors, including two different UWB systems, on a specially designed helmet serving as a mobile multi-sensor platform for CP. Different users were walking in stop-and-go mode along trajectories with predefined checkpoints and under various challenging environments. In the developed CP network, both Peer-to-Infrastructure (P2I) and Peer-to-Peer (P2P) measurements are used for positioning of the pedestrians. It is realised that the proposed system can achieve decimetre-level accuracies (on average, around 20 cm) in the complete absence of GNSS signals, provided that the measurements from infrastructure nodes are available and the network geometry is good. In the absence of these good conditions, the results show that the average accuracy degrades to meter level. Further, it is experimentally demonstrated that inclusion of P2P cooperative range observations further enhances the positioning accuracy and, in extreme cases when only one infrastructure measurement is available, P2P CP may reduce positioning errors by up to 95%. The complete test setup, the methodology for development, and data collection are discussed in this paper. In the next version of this system, additional observations such as the Wi-Fi, camera, and other signals of opportunity will be included.

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“…The topologies of the UWB localization system regarding the GNSS-like scheme (DL-TDoA) [12] and the inverted GNSS-like scheme (UL-TDoA) [13] have been extensively explored for industrial and academic use cases in recent years [14]- [27]. However, the bidirectional UWB localization scheme was typically mentioned as a classical method in the literature [12]- [14], [18], [23], without providing a specific implementation process, assuming that readers are already familiar with the concept. In fact, a thorough description of the bidirectional UWB system, from a theoretical standpoint to practical use cases, is generally lacking especially for the newcomers.…”

Section: Introductionmentioning

confidence: 99%

Bidirectional UWB Localization: A Review on an Elastic Positioning Scheme for GNSS-Deprived Zones

Sang,

Adams,

Hesse

et al. 2023

J. Ind. Sea. Pos. Nav.

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A bidirectional Ultra-Wideband (UWB) localization scheme is one of the three widely adopted design integration processes commonly used in time-based UWB positioning systems. The key property of bidirectional UWB localization is its ability to serve both navigation and tracking tasks within a single localization scheme on demand. Traditionally, navigation and tracking in wireless localization systems were treated as separate entities due to distinct applicable use-cases and methodological needs in each implementation process. Therefore, the ability to flexibly or elastically combine two unique positioning perspectives (navigation and tracking) within a single scheme can be regarded as a paradigm shift in the way location-based services are conventionally observed. This article reviews the mentioned bidirectional UWB localization from the perspective of a flexible and versatile positioning topology and highlights its potential in the field. In this regard, the article comprehensively describes the complete system model of the bidirectional UWB localization scheme using modular processes. It also discusses the demonstrative evaluation of two system integration processes and conducts a SWOT (Strengths, Weaknesses, Opportunities, and Threats) analysis of the scheme. Furthermore, the prospect of the presented bidirectional localization scheme for achieving precise location estimation in 5G/6G wireless mobile networks, as well as in Wi-Fi fine-time measurement-based positioning systems was briefly discussed.

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Robot self-localization in ultra-wideband large scale multi-node setups

Cited by 14 publications

References 7 publications

Numerical and Experimental Evaluation of Error Estimation for Two-Way Ranging Methods

Numerical and Experimental Evaluation of Error Estimation for Two-Way Ranging Methods

Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment

Bidirectional UWB Localization: A Review on an Elastic Positioning Scheme for GNSS-Deprived Zones

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