Ultra-Wideband Positioning for Assistance Robots for Elderly

Espes, David; Daher, Ali; Autret, Yvon; Rădoi, Emanuel; Parc, Philippe Le

doi:10.2316/p.2013.798-121

Cited by 6 publications

(3 citation statements)

References 13 publications

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“…This algorithm does not need to iterate the direct solution method with algebraic analytic properties and the solution speed is fast [40].…”

Section: Bancroftmentioning

confidence: 99%

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

Гао

et al. 2023

Applied Sciences

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Currently, ultra-wide band (UWB) is adopted as a useful high-accuracy positioning technique in satellite-blocked areas. However, UWB’s positioning performance would be limited significantly because of non-line of sight (NLOS) errors. Additionally, the truncation errors in these linearization-based adjustments such as least squares (LS) and extended Kalman filter (EKF) would also visibly degrade UWB positioning accuracy. To overcome the impacts of NLOS errors and truncation errors, this paper introduced a robust-theory-based particle filter (RPF) into UWB positioning. In such a method, the IGG-III model and PF were adopted to limit the impacts of NLOS errors and truncation errors, respectively, by introducing a weight inflation factor and particle group. For comparison, the Bancroft, LS, EKF, unscented Kalman filter (UKF), cubature Kalman filter (CKF), PF, and RPF were also presented. Here, the influences of truncation errors were analyzed by comparing the results based on LS and EKF with those calculated by UKF, CKF, and PF. The impacts of NLOS errors were evaluated by making a comparison between the results of PF and RPF. Results based on a set of simulated UWB data and a group of experiment UWB data demonstrated that the RPF can significantly avoid the positioning errors caused by both truncation errors and NLOS errors. In general, position improvements percentages of 57.2%, 52.7%, 39.6%, 38.2%, 26.6%, and 20.4% can be obtained by RPF compared to those calculated by Bancroft, LS, EKF, UKF, CKF, and PF, respectively. As a comparison, the truncation error would lead to about 8.1%, 10.1%, and 33.2% accuracy decrease in the north, east, and vertical directions on average. Such accuracy-decrease rates caused by NLOS were 6.1%, 5.2%, and 25%.

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“…This algorithm does not need to iterate the direct solution method with algebraic analytic properties and the solution speed is fast [40].…”

Section: Bancroftmentioning

confidence: 99%

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

Гао

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

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“…The Ubisense ultra-wide band (UWB) system [13]- [15] is a Real-Time Localization System (RTLS) using UWB signal. It is a successful commercial UWB localization platform that combines TDOA and angle-of-arrival (AoA) information for increased position accuracy.…”

Section: Related Workmentioning

confidence: 99%

QR-code based Localization for Indoor Mobile Robot with validation using a 3D optical tracking instrument

Lee

Tewolde

Lim

et al. 2015

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper addresses effective artificial landmark based indoor localization technique for mobile robotics applications. In the proposed approach, QR-codes are strategically placed in the operating environment, attached to the ceiling; they are used as artificial landmarks for providing reference points to aid the robot localization. The vision processing, robot localization and navigation tasks are all carried out on an Android Smartphone mounted on the mobile robotic platform; by taking advantage of the computational power, the built-in sensing, and the communication capabilities of the Smartphone. The Smartphone detects and recognizes the QR-codes to calculate the approximate global location of the robot. The pixel coordinate information in the image of QR-code is also used to enhance the position estimate in the real-world environment. Furthermore, the QR-code orientation in the image view is used to calculate the mobile robot's heading direction. An NDI 3D optical tracking instrument is used for validation of the effectiveness and feasibility of the proposed method. This paper demonstrates successful implementation of the QR-code based localization strategy and the experimental evaluation of its performance in actual environment.

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“…3 Depending on the tracked target, they can be oriented on scene or on object tracking. For scene monitoring, they are mounted on a mobile robot and exploited for mapping, localization, and detection of obstacles, 4 or terrain classification. 5 In the object-oriented applications, the camera is usually mounted on the end effector of the robot’s manipulator (eye-in-hand configuration), in order to acquire new images by changing the camera position.…”

Section: Introductionmentioning

confidence: 99%

Robot vision ultra-wideband wireless sensor in non-cooperative industrial environments

Galajda

Galajdová

Slovak

et al. 2018

International Journal of Advanced Robotic Systems

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In this article, the ultra-wideband technology for localization and tracking of the robot gripper (behind the obstacles) in industrial environments is presented. We explore the possibilities of ultra-wideband radar sensor network employing the centralized data fusion method that can significantly improve tracking capabilities in a complex environment. In this article, we present ultra-wideband radar sensor network hardware demonstrator that uses a new wireless ultra-wideband sensor with an embedded controller to detect and track online or off-line movement of the robot gripper. This sensor uses M-sequence ultra-wideband radars front-end and low-cost powerful processors on a system on chip with the advanced RISC machines (ARM) architecture as a main signal processing block. The ARM-based single board computer ODROID-XU4 platform used in our ultra-wideband sensor can provide processing power for the preprocessing of received raw radar signals, algorithms for detection and estimation of target’s coordinates, and finally, compression of data sent to the data fusion center. Data streams of compressed target coordinates are sent from each sensor node to the data fusion center in the central node using standard the wireless local area network (WLAN) interface that is the feature of the ODROID-XU4 platform. The article contains experimental results from measurements where sensors and antennas are located behind the wall or opaque material. Experimental testing confirmed capability of real-time performance of developed ultra-wideband radar sensor network hardware and acceptable precision of software. The introduced modular architecture of ultra-wideband radar sensor network can be used for fast development and testing of new real-time localization and tracking applications in industrial environments.

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Ultra-Wideband Positioning for Assistance Robots for Elderly

Cited by 6 publications

References 13 publications

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

QR-code based Localization for Indoor Mobile Robot with validation using a 3D optical tracking instrument

Robot vision ultra-wideband wireless sensor in non-cooperative industrial environments

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