Seamless Navigation using UWB-based Multisensor System

Pietra, Vincenzo Di; Dabove, Paolo; Piras, Marco

doi:10.1109/plans46316.2020.9110146

Cited by 7 publications

(4 citation statements)

References 14 publications

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“…UWB technology serves a similar purpose to GNSS technology and can also be perfectly combined with an INS to mutually compensate for defects. Moreover, Apple Inc., SAMSUNG, and the Xiaomi Corporation have implanted UWB chips into their next generation of smartphone products [21], indicating that the use of UWB in the mass market has become a reality. The promotion of this industrialization will increasingly lower the cost of UWB technology.…”

Section: Related Workmentioning

confidence: 99%

“…Chiang et al [25] evaluated LC and TC schemes for an INS/GNSS/odometer/barometer system in a GNSS-degraded environment and concluded that the direct use of low-cost GNSS receivers and low-cost IMUs to obtain raw measurements has severe limitations under the TC scheme. Pietra et al [21] presented the use of an integrated UWB/GNSS/INS for seamless positioning. Due to cost considerations, the system solution sacrifices some accuracy, and the accuracy decreases when UWB transmission is severely affected by NLOS conditions.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

A Seamless Navigation System and Applications for Autonomous Vehicles Using a Tightly Coupled GNSS/UWB/INS/Map Integration Scheme

Wang

Xin

et al. 2021

Remote Sensing

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Seamless positioning systems for complex environments have been a popular focus of research on positioning safety for autonomous vehicles (AVs). In particular, the seamless high-precision positioning of AVs indoors and outdoors still poses considerable challenges and requires continuous, reliable, and high-precision positioning information to guarantee the safety of driving. To obtain effective positioning information, multiconstellation global navigation satellite system (multi-GNSS) real-time kinematics (RTK) and an inertial navigation system (INS) have been widely integrated into AVs. However, integrated multi-GNSS and INS applications cannot provide effective and seamless positioning results for AVs in indoor and outdoor environments due to limited satellite availability, multipath effects, frequent signal blockages, and the lack of GNSS signals indoors. In this contribution, multi-GNSS-tightly coupled (TC) RTK/INS technology is developed to solve the positioning problem for a challenging urban outdoor environment. In addition, ultrawideband (UWB)/INS technology is developed to provide accurate and continuous positioning results in indoor environments, and INS and map information are used to identify and eliminate UWB non-line-of-sight (NLOS) errors. Finally, an improved adaptive robust extended Kalman filter (AREKF) algorithm based on a TC integrated single-frequency multi-GNSS-TC RTK/UWB/INS/map system is studied to provide continuous, reliable, high-precision positioning information to AVs in indoor and outdoor environments. Experimental results show that the proposed scheme is capable of seamlessly guaranteeing the positioning accuracy of AVs in complex indoor and outdoor environments involving many measurement outliers and environmental interference effects.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

A Seamless Navigation System and Applications for Autonomous Vehicles Using a Tightly Coupled GNSS/UWB/INS/Map Integration Scheme

Wang

Xin

et al. 2021

Remote Sensing

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“…required to solve a 2D positioning problem from range measurements through trilateration), is not mandatory because measurements from a single or two beacons can already be beneficial and help to contain the position drift. Recently, authors in [4]- [6] have hence considered deploying such UWB beacons in GNSS-challenged environments. While fusion is generally based on an Error State -Kalman Filter (ES-KF), where the state vector represents corrections of the INS solution [4]- [7], several architectures have been considered in this context, which differentiate from each others in the nature of the measurements used to correct the solution.…”

Section: Introductionmentioning

confidence: 99%

UWB-aided GNSS/INS Fusion for Resilient Positioning in GNSS Challenged Environments

Villien

Denis

2023

2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)

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The fusion of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) is a well established technique to provide resilient positioning even in GNSS challenged environments. However, when GNSS reception conditions are persistently degraded, the inherent drift of inertial navigation can result in insufficient accuracy (e.g. greater than 1m), especially when using industrial or tactical grade Inertial Measurement Unit (IMU). This study introduces the tightly coupled integration of Ultra-Wideband (UWB) ranging measurements with fixed beacons to a loosely coupled GNSS/INS fusion. The algorithm uses an Error-State Kalman Filter (ES-KF) that supports Velocity Constraints (VC) and Zero-Angular Rate Updates (ZARU)/Zero Velocity Updates (ZVU). It details the necessary pre-processing of UWB measurements to correct for clock drift, velocity and latency errors, and provides two calibration techniques suitable for guided and generic use cases, resulting in ranging accuracy of better than 3cm and 11cm, respectively, based on 28 field tests. The benefits of UWB measurements in fusion are demonstrated through a field trial with severely degraded GNSS conditions, resulting in horizontal accuracy better than 40cm (compared to 2.1m without UWB) and improved rejection of poor GNSS measurements.

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“…This paper discusses the architecture of a low-cost multi-sensor platform in which a UWB indoor positioning system is integrated seamlessly with a classical GNSS-INS coupling in order to acquire synchronized data for further data fusion analysis. The present paper is an extension of the conference paper presented in [14]. These data can be used in real time and also in post-processing to evaluate the performance of the system in term of positioning accuracy.…”

Section: Introductionmentioning

confidence: 99%

Loosely Coupled GNSS and UWB with INS Integration for Indoor/Outdoor Pedestrian Navigation

Pietra

Dabove

Piras

2020

Sensors

Self Cite

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The growth of location-based services (LBS) has increased rapidly in last years, mainly due to the possibility to exploit low-cost sensors installed in portable devices, such as smartphones and tablets. This work aims to show a low-cost multi-sensor platform developed by the authors in which an ultra-wideband (UWB) indoor positioning system is added to a classical global navigation satellite systems–inertial navigation system (GNSS-INS) integration, in order to acquire different synchronized data for further data fusion analysis in order to exploit seamless positioning. The data fusion is based on an extended Kalman filter (EKF) and on a geo-fencing approach which allows the navigation solution to be provided continuously. In particular, the proposed algorithm aims to solve a navigation task of a pedestrian user moving from an outdoor space to an indoor environment. The methodology and the system setup is presented with more details in the paper. The data acquired and the real-time positioning estimation are analysed in depth and compared with ground truth measurements. Particular attention is given to the UWB positioning system and its behaviour with respect to the environment. The proposed data fusion algorithm provides an overall horizontal and 3D accuracy of 35 cm and 45 cm, respectively, obtained considering 5 different measurement campaigns.

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Seamless Navigation using UWB-based Multisensor System

Cited by 7 publications

References 14 publications

A Seamless Navigation System and Applications for Autonomous Vehicles Using a Tightly Coupled GNSS/UWB/INS/Map Integration Scheme

A Seamless Navigation System and Applications for Autonomous Vehicles Using a Tightly Coupled GNSS/UWB/INS/Map Integration Scheme

UWB-aided GNSS/INS Fusion for Resilient Positioning in GNSS Challenged Environments

Loosely Coupled GNSS and UWB with INS Integration for Indoor/Outdoor Pedestrian Navigation

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