Indirect Localization and Imaging of Objects in an UWB Sensor Network

Hirsch, Ole; Janson, Malgorzata; Wiesbeck, W.; Thomä, Reiner S.

doi:10.1109/tim.2010.2046359

Cited by 12 publications

(6 citation statements)

References 21 publications

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“…Related to these kind of sensor modalities, many works have focused on mitigating the non-LOS (NLOS) ranging errors to enhance the positioning performance. Hirsch et al [35] simulated multiple reflections and diffraction of ranging signals using ray-tracing method and applied this to the LOS/NLOS distinction. Similarly, He et al [16] simulated multipath effects by considering multiple multipath fading channels and evaluated the actual ranging errors.…”

Section: Related Workmentioning

confidence: 99%

Indoor Mobile Robot Localization and Mapping Based on Ambient Magnetic Fields and Aiding Radio Sources

Jung

Lee

Myung

2015

IEEE Trans. Instrum. Meas.

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In robotics, the problem of concurrently addressing the localization and mapping is well defined as simultaneous localization and mapping (SLAM) problem. Since the SLAM procedure is usually recursive, maintaining a certain error bound on the current position estimate is a critical issue. However, when the robot is kidnapped (i.e., the robot is moved by an intentional or unintentional user) or suffers from locomotion failure (due to large slip and falling), the robot will inevitably lose its current position. In this case, immediate recovery of the robot position is essential for seamless operation. In this paper, we present a method of solving both SLAM and relocation problems by employing ambient magnetic and radio measurements. The proposed SLAM is realized in the Rao-Blackwellized particle filter-and grid-based SLAM frameworks, where we exploit the local heading corrections from the magnetic measurements. For the relocation, we design the location signatures using the magnetic and radio measurements, and examine each of the Monte Carlo localization-based and multilayer perceptron-based relocation methods with real-world data. We implement the proposed SLAM and relocation algorithms in an embedded system and verify the feasibility of the proposed methods as an online robot navigation system.

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Section: Related Workmentioning

confidence: 99%

Indoor Mobile Robot Localization and Mapping Based on Ambient Magnetic Fields and Aiding Radio Sources

Jung

Lee

Myung

2015

IEEE Trans. Instrum. Meas.

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“…Diffraction at the edges of objects limits the performance of the described procedure and causes a underestimation of object dimensions. The method is explained in more detail in Hirsch et al (2010).…”

Section: Indirect Imaging Of Objectsmentioning

confidence: 99%

Imaging in UWB Sensor Networks

Hirsch¹,

Zetík²,

Thomä³

2010

Wireless Sensor Networks: Application-Centric Design

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“…Many impulse radars have been designed to detect, identify, and characterize hidden objects and also the ones beneath the ground by transmitting and analyzing the received signal. These radars have also been used for buried mine detection , pavement damage detection , asset geolocation , rescue operations , breast cancer detection , and see‐through‐wall imaging . The heart of these systems is the pulse generator and the most common method for pulse generation has been using step recovery diodes (SRDs) .…”

Section: Introductionmentioning

confidence: 99%

Low‐ringing and reduced‐cost step recovery diode based UWB pulse generators for GPR applications

Kamal

Bhattacharya

Tamrakar

et al. 2014

Micro & Optical Tech Letters

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Low‐ringing and reduced‐cost pulse generators for ultrawideband applications using step recovery diode (SRD) have been reported in this article. The circuits generate Gaussian pulses of 170 ps pulse width and a minimal ringing of −22 dB and monocycles of 401 ps duration and high fractional bandwidth of 162%. Cost‐reduction is mainly attributed to the resistive attenuator and single SRD used. Negligible change in circuits' performance was witnessed for repetition rate from 1 to 100 MHz which makes it apt for low to medium range ground penetrating radar applications. © 2014 Wiley Periodicals, Inc. Microwave Opt Technol Lett 56:2289–2294, 2014

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Indirect Localization and Imaging of Objects in an UWB Sensor Network

Cited by 12 publications

References 21 publications

Indoor Mobile Robot Localization and Mapping Based on Ambient Magnetic Fields and Aiding Radio Sources

Indoor Mobile Robot Localization and Mapping Based on Ambient Magnetic Fields and Aiding Radio Sources

Imaging in UWB Sensor Networks

Low‐ringing and reduced‐cost step recovery diode based UWB pulse generators for GPR applications

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