Energy-Efficient, Precise UWB-Based 3-D Localization of Sensor Nodes With a Nano-UAV

Niculescu, Vlad; Palossi, Daniele; Magno, Michele; Benini, Luca

doi:10.1109/jiot.2022.3166651

Cited by 20 publications

(9 citation statements)

References 36 publications

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“…Many works focus on indoor-localization techniques based on UWB [29,30,31,32]. Our work focuses on consumer smartphones, their UWB ranging accuracy, reliability, and the security implications that inaccurate measurements can have.…”

Section: Related Workmentioning

confidence: 99%

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Smartphones with UWB: Evaluating the Accuracy and Reliability of UWB Ranging

Heinrich¹,

Krollmann²,

Putz³

et al. 2023

Preprint

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More and more consumer devices implement the IEEE Ultra-Wide Band (UWB) standard to perform distance measurements for sensitive tasks such as keyless entry and startup of modern cars, to find lost items using coin-sized trackers, and for smart payments. While UWB promises the ability to perform time-of-flight centimeter-accurate distance measurements between two devices, the accuracy and reliability of the implementation in up-to-date consumer devices have not been evaluated so far. In this paper, we present the first evaluation of UWB smartphones from Apple, Google, and Samsung, focusing on accuracy and reliability in passive keyless entry and smart home automation scenarios. To perform the measurements for our analysis, we build a custom-designed testbed based on a Gimbal-based platform for Wireless Evaluation (GWEn), which allows us to create reproducible measurements. All our results, including all measurement data and a manual to reconstruct a GWEn are published online. We find that the evaluated devices can measure the distance with an error of less than 20 cm, but fail in producing reliable measurements in all scenarios. Finally, we give recommendations on how to handle measurement results when implementing a passive keyless entry system.• Reliability and Accuracy of UWB technology. People using UWB as a PKE system need to know if they can rely on accurate measurements. Without this, people will be less likely to adopt the technology and more likely to resist its implementation. A positive evaluation will provide peace of mind to people using a UWBsmartphone as a car key. • Implementation of UWB measurements. Manufacturers

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Section: Related Workmentioning

confidence: 99%

“…The DW3000 has also been compared to LRP devices [30]. In 2022, researchers discovered that the default DW1000 antenna has an uneven radiation pattern and the researchers evaluated the ranging error from several angles by using unmanned aerial vehicles [29]. We compared several works with our result in Section VII-B.…”

Section: Related Workmentioning

confidence: 99%

Smartphones with UWB: Evaluating the Accuracy and Reliability of UWB Ranging

Heinrich¹,

Krollmann²,

Putz³

et al. 2023

Preprint

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show abstract

“…The most common methods include external positioning systems, such as the Global Positioning System (GPS) [9,10] and anchor-based ultra-wideband (UWB) positioning [11,12], which have notably enhanced positioning accuracies. However, in specific environments, such as urban canyons, indoors, or during severe weather conditions, satellite signals may be obstructed or interfered with, thereby limiting the reliability and accuracy of traditional Global Navigation Satellite Systems (GNSSs) [13,14] in these situations.…”

Section: Introductionmentioning

confidence: 99%

Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors

Guo,

Gan,

2024

Sensors

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Relative localization (RL) and circumnavigation is a highly challenging problem that is crucial for the safe flight of multi-UAVs (multiple unmanned aerial vehicles). Most methods depend on some external infrastructure for positioning. However, in some complex environments such as forests, it is difficult to set up such infrastructures. In this paper, an approach to infrastructure-free RL estimations of multi-UAVs is investigated for circumnavigating a slowly drifting UGV0 (unmanned ground vehicle 0), where UGV0 serves as the RL and circumnavigation target. Firstly, a discrete-time direct RL estimator is proposed to ascertain the coordinates of each UAV relative to the UGV0 based on intelligent sensing. Secondly, an RL fusion estimation method is proposed to obtain the final estimate of UGV0. Thirdly, an integrated estimation control scheme is also proposed for the application of the RL fusion estimation method to circumnavigation. The convergence and the performance are analyzed. The simulation results validate the effectiveness of the proposed algorithm for RL fusion estimations and of the integrated scheme.

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“…GPS fails to help us in areas such as close-range complex following systems or indoor positioning. However, there are many applications in these complex environments, such as daily physical activity tracking [ 4 ], intelligent transportation [ 5 ], and localization of sensor nodes with a nano unmanned Aerial Vehicle [ 6 ]. In these close-range and complex scenarios, accurate estimation of AOA and TOA is important for positioning.…”

Section: Introductionmentioning

confidence: 99%

Low-Complexity Joint Angle of Arrival and Time of Arrival Estimation of Multipath Signal in UWB System

Deng

Tang

et al. 2023

Sensors

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In an ultra-wideband (UWB) system, the two-dimensional (2D) multiple signal classification (MUSIC) algorithms based on high-precision 2D spectral peak search can jointly estimate the time of arrival (TOA) and angle of arrival (AOA). However, the computational complexity of 2D-MUSIC is very high, and the corresponding data model is only based on the dual antennas. To solve these problems, a low-complexity algorithm for joint AOA and TOA estimation of the multipath ultra-wideband signal is proposed. Firstly, the dual antenna sensing data model is extended to the antenna array case. Then, based on the array-sensing data model, the proposed algorithm transforms the 2D spectral peak search of 2D-MUSIC into a secondary optimization problem to extract the estimation of AOA via only 1D search. Finally, the acquired AOA estimations are brought back, and the TOA estimations are also obtained through a 1D search. Moreover, in the case of an unknown transmitted signal waveform, the proposed method can still distinguish the main path signal based on the time difference of arrival of different paths, which shows wider applications. The simulation results show that the proposed algorithm outperforms the Root-MUSIC algorithm and the estimation of signal parameters using the rotational invariance techniques (ESPRIT) algorithm, and keeps the same estimation accuracy but with greatly reduced computational complexity compared to the 2D-MUSIC algorithm.

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Energy-Efficient, Precise UWB-Based 3-D Localization of Sensor Nodes With a Nano-UAV

Cited by 20 publications

References 36 publications

Smartphones with UWB: Evaluating the Accuracy and Reliability of UWB Ranging

Smartphones with UWB: Evaluating the Accuracy and Reliability of UWB Ranging

Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors

Low-Complexity Joint Angle of Arrival and Time of Arrival Estimation of Multipath Signal in UWB System

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