Two-Way Ranging Algorithms for Clock Error Compensation

Domuta, Ioan; Palade, Tudor

doi:10.1109/tvt.2021.3096667

Cited by 17 publications

(2 citation statements)

References 26 publications

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“…The distance r i between the tag and the base station can be obtained by the bilateral two-way ranging. 22 Assuming that the tag and the base station are on the same plane, the three circles, which select the base station as the circle center and the distance r i between the tag and the base station as the radius, will intersect at one point ideally. The point is regarded as the position of the tag, and its coordinate is ( x 0 , y 0 ) , as shown by the red dot in Figure 1.…”

Section: Posture Algorithm Based On Uwbmentioning

confidence: 99%

Posture algorithm for mobile robot based on ultrawide band

Sun

Xie

Xiong

et al. 2022

International Journal of Advanced Robotic Systems

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Inertial measurement unit or other navigation devices are used to obtain the posture information of most mobile robots based on ultrawide band. However, problems, such as zero drift, temperature drift, and error increasing with time, exist in inertial measurement unit and other navigation devices. To overcome these problems, a posture algorithm for mobile robot based on ultrawide band is proposed in this article. Real-time posture information can be obtained by the posture algorithm without using inertial measurement unit and other navigation devices. Simulated results show that the mean absolute error and root mean square error of posture angle in the global coordinate system are 0.951° and 1.169°, respectively. Both the simulated and experimental trajectories show good agreement with the ideal trajectory. The results indicate that the posture data can be obtained accurately by the posture algorithm and the accuracy can meet the requirements for most mobile robots. This article is expected to be of great guiding significance for the development of mobile robots.

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Section: Posture Algorithm Based On Uwbmentioning

confidence: 99%

Posture algorithm for mobile robot based on ultrawide band

Sun

Xie

Xiong

et al. 2022

International Journal of Advanced Robotic Systems

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“…Particularly, two transceiver nodes interact with each other; thus, the system no longer measures the distance to a passive object but between two transceiver nodes. Such a time measurement essentially requires carrying out a two-way ranging (TWR) time synchronization protocol to eliminate the measurement inaccuracy caused by the distributed clock timing issue [4]. In general, engineering an FMCW-based system involves several well-defined design criteria, such as signal duration, bandwidth, sampling rate, and chirp modulation rate [1,5].…”

Section: Introductionmentioning

confidence: 99%

Critical Design Considerations on Continuous Frequency Modulation Localization Systems

Al-Qudsi,

El-Shennawy,

Joram

et al. 2024

IET Signal Processing

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Real-time locating systems (RTLSs) suffer from clock synchronization inaccuracy among their distributed reference nodes. Conventional systems require periodic time synchronization and typically necessitate a two-way ranging (TWR) clock synchronization protocol to eliminate their measurement errors. Particularly, frequency-modulated continuous-wave (FMCW) time-based location systems pose unique design considerations on the TWR that have a significant impact on the quality of their measurements. In this paper, a valid operation design diagram is proposed for the case of an FMCW time-based TWR synchronization protocol. The proposed diagram represents an intersection area of two boundary curves that indicate the functionality of the system at a given frequency bandwidth, spectral length, and clock synchronization ambiguity. It presents an intuitive illustration of the measurement’s expected accuracy by indicating a larger intersection area for relaxed design conditions and vice versa. Furthermore, the absence of a working condition can easily be detected before proceeding with the actual system development. To demonstrate the feasibility of the proposed diagram, four scenarios with different design constraints were evaluated in a Monte-Carlo model of a basic TWR system. Moreover, an experimental measurement setup demonstrated the validity of the proposed diagram. Both the simulation and experimental outcomes show that the indicated valid conditions and the distribution of the measurements’ accuracy are in very good agreement.

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