Tightly-coupled GPS/UWB Integration

MacGougan, Glenn; O’Keefe, Kyle; Klukas, Richard

doi:10.1017/s0373463309990257

Cited by 31 publications

(24 citation statements)

References 17 publications

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“…The technology has increased in popularity since the United States Federal Communications Commission (FCC) allowed for unlicensed use of the 3.1-10.6 GHz spectrum in 2002. 20 In particular, impulse-radio UWB (IR-UWB), has become popular for centimeter-level accuracy ranging applications.…”

Section: B Ultra Wideband (Uwb)mentioning

confidence: 99%

“…20 Disadvantages include range limitations, as well as the need for additional equipment in the UAV.…”

Section: B Ultra Wideband (Uwb)mentioning

confidence: 99%

“…20 For synchronous ranging, the time-of-flight (ToF) between the nodes are measured by comparing the timestamp of the received message with the current time in the node. For this reason, the ranging precision depends on accurate synchronization of the clocks of each node.…”

Section: B Ultra Wideband (Uwb)mentioning

confidence: 99%

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Robust Navigation of UAV using Inertial Sensors Aided by UWB and RTK GPS

Gryte

Hansen

Johansen

et al. 2017

AIAA Guidance, Navigation, and Control Conference

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Tight integration of ultra wideband (UWB) range measurements with real-time kinematic (RTK) aiding of inertial navigation for increased robustness to GNSS dropouts, is achieved using a double-differenced nonlinear observer. A stationary base station provides additional GNSS range measurements, upon which a double-differenced observer is formulated. The results are verified using a simulated unmanned aerial vehicle (UAV) with realistic inertial, GNSS and UWB measurements.

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Section: B Ultra Wideband (Uwb)mentioning

confidence: 99%

“…20 Disadvantages include range limitations, as well as the need for additional equipment in the UAV.…”

Section: B Ultra Wideband (Uwb)mentioning

confidence: 99%

See 1 more Smart Citation

Robust Navigation of UAV using Inertial Sensors Aided by UWB and RTK GPS

Gryte

Hansen

Johansen

et al. 2017

AIAA Guidance, Navigation, and Control Conference

View full text Add to dashboard Cite

show abstract

“…This integrated system was more accurate and offered better fixed-ambiguity solutions than GPS alone. Even in environments in which GPS does not work well, accuracy was still tangible at the sub-decimeter level [13]. A vehicle-relative solution was reached within a vehicle-to-infrastructure (V2I) using an extended Kalman filter with a differential GPS pseudorange.…”

Section: Introductionmentioning

confidence: 99%

An Approach to Improve the Positioning Performance of GPS/INS/UWB Integrated System with Two-Step Filter

Ren

Gao

et al. 2017

Remote Sensing

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Abstract:The integration of Inertial Navigation System (INS) and Global Positioning System (GPS) single-point-positioning (SPP) mode cannot meet the requirements of high-accuracy navigation. Range observation through ultra-wideband (UWB) is an effective means to enhance the reliability and accuracy of GPS/INS integrated navigation, particularly in environments where GPS availability is poor. Because it is difficult for UWB signal to achieve large-scale intervention coverage, an enhanced GPS/INS/UWB integrated scheme with positioning error correction is proposed to improve the position accuracy in the UWB signal outage scenario. The position difference between the GPS/INS integrated solution and the GPS/INS/UWB integrated solution is predicated as the error correction for GPS/INS/UWB integrated navigation in a UWB signal challenging environment. Position correction information in the north and east directions is input to the two-step filter to decrease the error of GPS/INS integrated navigation in single-point-positioning. In order to validate the proposed method, a real experiment is conducted. The results indicate that the enhanced GPS/INS/UWB integrated scheme with positioning error correction is able to improve the position accuracy of GPS/INS/UWB integrated navigation when UWB signal is unavailable.

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“…To obtain the range estimates, a variety of ranging approaches can be adopted, such as vision, ultrasonic, IrDA, Blue-tooth, ZigBee, WiFi, and impulse-radio ultra-wideband (IR-UWB). Among them, IR-UWB employs ultra-short radio frequency pulses (usually on the order of nanoseconds or even sub-nanoseconds) for ranging, with centimeter-level ranging accuracy in theory, and thus has been regarded as one of the most competitive technologies to realize high precision ranging between non-anchor nodes [11,12]. The high-precision ranging capability of IR-UWB essentially relies on its fine time resolution, which is promising to leverage time-ofarrival (TOA) estimation for ranging.…”

Section: Introductionmentioning

confidence: 99%

High precision ranging with IR-UWB: a compressed sensing approach

Zhang

Zhou

et al. 2016

Wirel. Commun. Mob. Comput.

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Ranging has been regarded as one of the fundamental enabling technologies for a multitude of applications that require high accurate position information, such as automated navigation, vehicle platooning, asset management, etc. Among various ranging techniques, impulse-radio ultra-wideband is one of the most competitive technologies for high-precision ranging, because of its capability of achieving centimeter-level ranging accuracy, even for dense urban, indoor or cave like environments. However, two main challenges arise when fully exploiting the ranging capability of impulse-radio ultrawideband: (i) the extremely high sampling rate to acquire the received multipath signal, and (ii) the optimal thresholding strategy to differentiate the first path. To efficiently tackle those challenges, in this work, we propose a ranging approach under the compressed sensing framework. Specifically, the received ranging signal is acquired by low-rate compressed sampling through parallel random projections. Then, an algorithm named matching-pursuit search-back is proposed to detect the first arrival path, which integrates a backward iterative search and thresholding process starting from the peak path. The detection threshold is dynamically adjusted in each iteration to asymptotically minimize the averaged detection errors over false alarm and missed detection. Extensive simulations and experiments with field data are provided to demonstrate that the proposed approach can achieve high-precision ranging with far fewer samples compared with the traditional Nyquist-sampling based ones.

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Tightly-coupled GPS/UWB Integration

Cited by 31 publications

References 17 publications

Robust Navigation of UAV using Inertial Sensors Aided by UWB and RTK GPS

Robust Navigation of UAV using Inertial Sensors Aided by UWB and RTK GPS

An Approach to Improve the Positioning Performance of GPS/INS/UWB Integrated System with Two-Step Filter

High precision ranging with IR-UWB: a compressed sensing approach

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