Design and Implementation of Real-Time Localization System (RTLS) Based on UWB and TDoA Algorithm

Zhang, Fengyun; Yang, Li; Liu, Yuhuan; Ding, Yulong; Yang, Shuang–Hua; Li, Hao

doi:10.3390/s22124353

Cited by 13 publications

(8 citation statements)

References 38 publications

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“…This allows for a higher update rate and better scalability. Consequently, it is frequently utilized in time-aware scenarios such as unmanned aerial vehicles [31,32], automatic guided vehicles [33], and real-time locating systems [34,35]. Tiemann et al [36] proposed ATLAS, an open-source TDoAbased localization system; This system is designed to be highly scalable, supporting more than 1000 nodes and offering different update rates over 2000Hz.…”

Section: B Tdoamentioning

confidence: 99%

UI-MoCap: An Integrated UWB-IMU Circuit Enables 3D Positioning and Enhances IMU Data Transmission

Zhong,

Zhang,

Sun

et al. 2024

IEEE Trans. Neural Syst. Rehabil. Eng.

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While inertial measurement unit (IMU)-based motion capture (MoCap) systems have been gaining popularity for human movement analysis, they still suffer from long-term positioning errors due to accumulated drift and inefficient data transmission via Wi-Fi or Bluetooth. To address this problem, this study introduces an integrated ultrawideband (UWB)-IMU system, named UI-MoCap, designed for simultaneous 3D positioning as well as wireless IMU data transmission through UWB pulses. The UI-MoCap comprises mobile UWB tags and hardwaresynchronized UWB base stations. Each UWB tag, a compact circular PCB with a 3.4cm diameter, houses a nineaxis IMU unit and a UWB transceiver for data transmission. The base stations are equipped with a UWB transceiver and an Ethernet controller, ensuring efficient reception and management of messages from multiple tags. Experiments were conducted to evaluate the system's validity and reliability of 3D positioning and IMU data transmission. The results demonstrate that UI-MoCap achieves centimeterlevel 3D positioning accuracy and maintains consistent positioning performance over time. Moreover, UI-MoCap exhibits high update rates and a minimal packet loss rate for IMU data transmission, significantly outperforming Wi-Fi-based transmission techniques. Future work will explore the fusion of UWB and IMU technologies to further enhance positioning performance, with a focus on human movement analysis and rehabilitation applications.

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Section: B Tdoamentioning

confidence: 99%

UI-MoCap: An Integrated UWB-IMU Circuit Enables 3D Positioning and Enhances IMU Data Transmission

Zhong,

Zhang,

Sun

et al. 2024

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…The time difference of arrival (TDOA) method estimates the differences in distance between a tag and any two anchors and then identifies the intersection of the hyperbolas to locate the tag. In an uplink TDOA system, anchors are synchronized using Ethernet or wireless signals [ 20 ]. Once the tag sends a data frame, the time differences can be computed.…”

Section: Introductionmentioning

confidence: 99%

Range-Extension Algorithms and Strategies for TDOA Ultra-Wideband Positioning System

Huang

Chen

Wei

et al. 2023

Sensors

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The Internet of Things (IoT) for smart industry requires the surveillance and management of people and objects. The ultra-wideband positioning system is an attractive solution for achieving centimeter-level accuracy in target location. While many studies have focused on improving the accuracy of the anchor coverage range, it is important to note that in practical applications, positioning areas are often limited and obstructed by furniture, shelves, pillars, or walls, which can restrict the placement of anchors. Furthermore, some positioning regions are located beyond anchor coverage, and a single group with few anchors may not be able to cover all rooms and aisles on a floor due to non-line-of-sight errors causing severe positioning errors. In this work, we propose a dynamic-reference anchor time difference of arrival (TDOA) compensation algorithm to enhance accuracy beyond anchor coverage by eliminating local minima of the TDOA loss function near anchors. We designed a multidimensional and multigroup TDOA positioning system with the aim of broadening the coverage of indoor positioning and accommodating complex indoor environments. By employing an address-filter technique and group-switching process, tags can seamlessly move between groups with a high positioning rate, low latency, and high accuracy. We deployed the system in a medical center to locate and manage researchers with infectious medical waste, demonstrating its usefulness for practical healthcare institutions. Our proposed positioning system can thus facilitate precise and wide-range indoor and outdoor wireless localization.

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“…The methods listed in [13,14] do not use Kalman filter explicitly; however, bias and drift estimates are obtained and utilized. In [15], a combination of a linear interpolation algorithm and Kalman filter is used. Typically, one of the anchors is used as the source of the master clock [10,11,13,14].…”

Section: Introductionmentioning

confidence: 99%

Utilization of Carrier-Frequency Offset Measurements in UWB TDoA Positioning with Receiving Tag

Krška

Navrátil

2023

Sensors

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High-capacity impulse-radio ultra-wideband (IR-UWB) indoor localization systems are typically based on the time difference of arrival (TDoA) principle. When the fixed and synchronized localization infrastructure, the anchors, transmit precisely timestamped messages, a virtually unlimited number of user receivers (tags) are able to estimate their position based on differences in the time of arrival of those messages. However, the drift of the tag clock causes systematic errors at a sufficiently high magnitude to effectively deny the positioning, if left uncorrected. Previously, the extended Kalman filter (EKF) has been used to track and compensate for the clock drift. In this article, the utilization of a carrier frequency offset (CFO) measurement for suppressing the clock-drift related error in anchor-to-tag positioning is presented and compared to the filtered solution. The CFO is readily available in the coherent UWB transceivers, such as Decawave DW1000. It is inherently related to the clock drift, since both carrier and timestamping frequencies are derived from the identical reference oscillator. The experimental evaluation shows that the CFO-aided solution performs worse than the EKF-based solution in terms of accuracy. Nonetheless, with CFO-aiding it is possible to obtain a solution based on measurements from a single epoch, which is favorable especially for power-constrained applications.

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Design and Implementation of Real-Time Localization System (RTLS) Based on UWB and TDoA Algorithm

Cited by 13 publications

References 38 publications

UI-MoCap: An Integrated UWB-IMU Circuit Enables 3D Positioning and Enhances IMU Data Transmission

UI-MoCap: An Integrated UWB-IMU Circuit Enables 3D Positioning and Enhances IMU Data Transmission

Range-Extension Algorithms and Strategies for TDOA Ultra-Wideband Positioning System

Utilization of Carrier-Frequency Offset Measurements in UWB TDoA Positioning with Receiving Tag

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