A Robust Detection and Optimization Approach for Delayed Measurements in UWB Particle-Filter-Based Indoor Positioning

Abstract

As a promising wireless positioning technique, ultrawideband (UWB) has received considerable attention among indoor positioning researchers in recent years (Yan et al., 2013;Zhou et al., 2021b). UWB-based high-accuracy indoor positioning systems have been widely used in a variety of industrial applications (Parikh & Michalson, 2008). Examples include smart manufacturing (Feng et al., 2020), intelligent inventory management (Macoir et al., 2019), and automated mining (Cao et al., 2020), etc. UWB sensors transmit information based on a non-sinusoidal narrow pulse (nanosecond-level), but not carrier wave, over a wide portion of the frequency spectrum. Inherently, the extremely high time resolution as well as the large bandwidth of UWB enable it to have high-ranging accuracy (decimeter-level) and strong robustness to multipath effects (Zhou et al., 2021a).

Improving Pedestrian Safety Using Ultra-Wideband Sensors: A Study of Time-to-Collision Estimation

“…Delayed UWB measurements can potentially be caused by many reasons. First, the authors of [22,23] mentioned that UWB measurements can be impacted by environmental factors, such as surrounding obstacles, which leads to UWB measurements being influenced by multipath delays. Furthermore, the authors of [24] claimed that UWB measurements can be affected by errors in signal processing and that they can be potentially eliminated by adding multiple antennas.…”

Ultra-Wideband-Based Time Occupancy Analysis for Safety Studies

“…Figure 9 demonstrates the distance ranging from each anchor for a 1 min interval. These results could be influenced by many factors, including multipath signal delay [24,25]. Finally, trial 7 experienced failures where the tag did not record any detection.…”