An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems
المؤلف | Li, Kai |
المؤلف | Ni, Wei |
المؤلف | Wei, Bo |
المؤلف | Guizani, Mohsen |
تاريخ الإتاحة | 2022-10-17T06:36:36Z |
تاريخ النشر | 2022-01-01 |
اسم المنشور | 2022 International Wireless Communications and Mobile Computing, IWCMC 2022 |
المعرّف | http://dx.doi.org/10.1109/IWCMC55113.2022.9825332 |
الاقتباس | Li, K., Ni, W., Wei, B., & Guizani, M. (2022, May). An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems. In 2022 International Wireless Communications and Mobile Computing (IWCMC) (pp. 871-876). IEEE. |
الترقيم الدولي الموحد للكتاب | 9781665467490 |
الملخص | In this paper, we propose a new ultra-wideband (UWB)-based simultaneous localization and wall-mapping (SLAM) system, which adopts two-way ranging optimization on UWB anchor and tag nodes to track the target's real-time movement in an unknown area. The proposed UWB-based SLAM system captures time difference of arrival (TDoA) of the anchor nodes' signals over a line-of-sight propagation path and reflected paths. The real-time location of the UWB tag is estimated according to the real-time TDoA measurements. To minimize the estimation error resulting from background noise in the two-way ranging, a Least Squares Method is implemented to minimize the estimation error for the localization of a static target, while Kalman Filter is applied for the localization of a mobile target. An experimental testbed is built based on off-the-shelf UWB hardware. Experiments validate that a reflector, e.g., a wall, and the UWB tag can be located according to the two-way ranging measurement. The localization accuracy of the proposed SLAM system is also evaluated, where the difference between the estimated location and the ground truth trajectory is less than 1 meter. |
اللغة | en |
الناشر | Institute of Electrical and Electronics Engineers Inc. |
الموضوع | Experimental testbed Optimization Simultaneous localization and mapping TDoA Ultra-wideband |
النوع | Conference Paper |
الصفحات | 871-876 |
الملفات في هذه التسجيلة
هذه التسجيلة تظهر في المجموعات التالية
-
علوم وهندسة الحاسب [2287 items ]