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AuthorLi, Kai
AuthorNi, Wei
AuthorWei, Bo
AuthorGuizani, Mohsen
Available date2022-10-17T06:36:36Z
Publication Date2022-01-01
Publication Name2022 International Wireless Communications and Mobile Computing, IWCMC 2022
Identifierhttp://dx.doi.org/10.1109/IWCMC55113.2022.9825332
CitationLi, 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.‏
ISBN9781665467490
URIhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85135350116&origin=inward
URIhttp://hdl.handle.net/10576/35152
AbstractIn 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.
Languageen
PublisherInstitute of Electrical and Electronics Engineers Inc.
SubjectExperimental testbed
Optimization
Simultaneous localization and mapping
TDoA
Ultra-wideband
TitleAn Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems
TypeConference Paper
Pagination871-876
dc.accessType Open Access


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