SRAC: Simultaneous Ranging and Communication in UWB Networks

Mohammadmoradi, Hessam; Heydariaan, Milad; Gnawali, Omprakash

doi:10.1109/dcoss.2019.00025

Cited by 13 publications

(8 citation statements)

References 12 publications

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“…Similarly, advancements in communication technologies as well as their increasing affordability provide an excellent base for data sharing between vehicles (V2V, [15]) and vehicle to infrastructure (V2I, [16]). Furthermore, there are sensors that can simultaneously provide both communication and ranging data [17].…”

Section: Related Work and Objective Of The Papermentioning

confidence: 99%

Experimental Assessment of UWB and Vision-Based Car Cooperative Positioning System

et al. 2021

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The availability of global navigation satellite systems (GNSS) on consumer devices has caused a dramatic change in every-day life and human behaviour globally. Although GNSS generally performs well outdoors, unavailability, intentional and unintentional threats, and reliability issues still remain. This has motivated the deployment of other complementary sensors in such a way that enables reliable positioning, even in GNSS-challenged environments. Besides sensor integration on a single platform to remedy the lack of GNSS, data sharing between platforms, such as in collaborative positioning, offers further performance improvements for positioning. An essential element of this approach is the availability of internode measurements, which brings in the strength of a geometric network. There are many sensors that can support ranging between platforms, such as LiDAR, camera, radar, and many RF technologies, including UWB, LoRA, 5G, etc. In this paper, to demonstrate the potential of the collaborative positioning technique, we use ultra-wide band (UWB) transceivers and vision data to compensate for the unavailability of GNSS in a terrestrial vehicle urban scenario. In particular, a cooperative positioning approach exploiting both vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) UWB measurements have been developed and tested in an experiment involving four cars. The results show that UWB ranging can be effectively used to determine distances between vehicles (at sub-meter level), and their relative positions, especially when vision data or a sufficient number of V2V ranges are available. The presence of NLOS observations is one of the principal factors causing a decrease in the UWB ranging performance, but modern machine learning tools have shown to be effective in partially eliminating NLOS observations. According to the obtained results, UWB V2I can achieve sub-meter level of accuracy in 2D positioning when GNSS is not available. Combining UWB V2I and GNSS as well V2V ranging may lead to similar results in cooperative positioning. Absolute cooperative positioning of a group of vehicles requires stable V2V ranging and that a certain number of vehicles in the group are provided with V2I ranging data. Results show that meter-level accuracy is achieved when at least two vehicles in the network have V2I data or reliable GNSS measurements, and usually when vehicles lack V2I data but receive V2V ranging to 2–3 vehicles. These working conditions typically ensure the robustness of the solution against undefined rotations. The integration of UWB with vision led to relative positioning results at sub-meter level of accuracy, an improvement of the absolute positioning cooperative results, and a reduction in the number of vehicles required to be provided with V2I or GNSS data to one.

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Section: Related Work and Objective Of The Papermentioning

confidence: 99%

Experimental Assessment of UWB and Vision-Based Car Cooperative Positioning System

et al. 2021

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“…In a recent study [4], a novel approach to simultaneous ranging and communication in UWB networks was presented. Rather than utilizing specific transmissions for ranging, separating them from the data exchange, the authors argue that in most cases ranging can be integrated within nominal network traffic if an immediate calculation is not needed.…”

Section: Ad-hoc Mesh and Situated Communicationmentioning

confidence: 99%

“…Alternatively, applications involving multi-robot systems can leverage the use of UWB transceivers onboard different robots for full relative pose estimation [11], and to the level of swarm-wide state estimation even with a single transceiver on each robot [12]. The third example then shows a UWB mesh network enabling simultaneously a networking and positioning solution in wireless sensor networks [4].…”

Section: Introductionmentioning

confidence: 99%

“…At the same time, with the rapid development and adoption of wireless technologies in the Industrial IoT (IIoT), high-precision location services are in increasing need [2]. Ultimately, simultaneous high-bandwidth wireless data transmission and localization (situated communication) can accelerate the adoption and ubiquity of distributed autonomous systems [3], [4].…”

Section: Introductionmentioning

confidence: 99%

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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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“…Wireless interference is one of the main factors affecting the performance of wireless systems. There is a body of research on improving the performance of wireless systems under interference, including studies on avoiding interference by TDMA schemes, ALOHA, or combining localization and communication traffic [12]; mitigating interference [13], [14]; and exploiting interference [15]- [17]. More recently, researchers used (quasi-)simultaneous transmissions with UWB radios for indoor localization to increase air time efficiency by simultaneously extracting time of arrival (TOA) or phase of arrival (POA) of multiple transmitters from the combined from the channel impulse response (CIR) of the concurrently received packets [5]- [11], [18].…”

Section: Related Workmentioning

confidence: 99%

Anchor-oriented Time and Phase-based Concurrent Self-localization using UWB Radios

Smaoui

Heydariaan

Gnawali

2021

2021 IEEE 46th Conference on Local Computer Networks (LCN)

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Positioning plays an important role in many IoT applications. Ultra-wideband (UWB)-based positioning is an alternative to GPS in indoor environments due to its multipath resilience and its accuracy and precision. In the presence of a large number of targets to localize, conventional UWB localization fails to provide a practical location update rate. UWB concurrency in conjunction with self-localization has been used in both time-based and phase-based localization making the targets to localize (tags), a relatively passive device with the sole role of receiving wireless packets and calculating its own location. More recently, phase-based concurrent angle estimation also offloaded the hardware complexity and cost to the anchors instead of the tags. In this work, our anchor-oriented approach combines inter-anchor and intra-anchor concurrency for phasebased localization but also allows time-based localization. Our experimental evaluation on a testbed consisting of Decawave platform shows that our technique is not only practical but also performant.

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SRAC: Simultaneous Ranging and Communication in UWB Networks

Cited by 13 publications

References 12 publications

Experimental Assessment of UWB and Vision-Based Car Cooperative Positioning System

Experimental Assessment of UWB and Vision-Based Car Cooperative Positioning System

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

Anchor-oriented Time and Phase-based Concurrent Self-localization using UWB Radios

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