Integrated UWB/IMU system for high rate indoor navigation with cm-level accuracy

Kulikov, Roman

doi:10.1109/mwent.2018.8337235

Cited by 9 publications

(4 citation statements)

References 10 publications

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“…Kulikov et al [41] presented a system for indoor precise 2D navigation of vehicles. He integrates a low cost-inertial sensor and an Ultra WideBand system (Decawave).…”

Section: Ultra Wideband Systemsmentioning

confidence: 99%

Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications

Delamare¹,

Boutteau²,

Savatier³

et al. 2020

Sci

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Many applications in the context of Industry 4.0 require precise localization. However, indoor localization remains an open problem, especially in complex environments such as industrial environments.In recent years, we have seen the emergence of Ultra WideBand (UWB) localization systems. The aim of this article is to evaluate the performance of a UWB system to estimate the position of a person moving in an indoor environment. To do so, we implemented an experimental protocol to evaluate the accuracy of the UWB system both statically and dynamically. The UWB system is compared to a ground truth obtained by a motion capture system with a millimetric accuracy.

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“…Kulikov et al [41] presented a system for indoor precise 2D navigation of vehicles. He integrates a low cost-inertial sensor and an Ultra WideBand system (Decawave).…”

Section: Ultra Wideband Systemsmentioning

confidence: 99%

Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications

Delamare¹,

Boutteau²,

Savatier³

et al. 2020

Sci

View full text Add to dashboard Cite

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“…Compared to other available technologies, UWB can provide low-cost accurate positioning within few centimetres accuracy; hence, it is frequently used in industrial environments such as smart factory [14], smart logistics [15], [16], warehouse management [17], vehicle localisation [18], robot positioning [19], and smart city [20]. UWB enables simultaneous real-time tracking of objects and provides their localisation despite indoor obstructions due to the advantage of working under non-line-of-sight (NLOS) conditions [21], [22]. UWB technology enables an efficient combination of accuracy, scalability and reliability, which are very crucial in the applications of indoor logistics, such as tracking people and assets, and controlling the automated guided vehicles (AGVs) [23], [24].…”

Section: Introductionmentioning

confidence: 99%

Precision Positioning for Smart Logistics Using Ultra-Wideband Technology-Based Indoor Navigation: A Review

et al. 2022

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Logistics is an important driver for the competitiveness of industries and material supply. The development of smart logistics, powered by precise positioning and communication technologies can significantly improve the efficiency of logistics. The emerging technology of ultra-wideband (UWB) precision positioning has attracted significant attention throughout the previous decade owing to its promising capabilities over other radio frequency-based indoor localisation systems. In addition, UWB is characterised by large bandwidth and data rate, short message length, low transmission power and high penetration capability, which are all favourable for indoor positioning applications. However, UWB localisation technology faces several challenges that are somewhat similar to other technologies, such as mitigating errors that originate from non-line-of-sight (NLOS) situations and tackling signal interference in dense environments, and when required to operate in extreme conditions. This paper reviews the most recent advances made in UWB positioning systems over the last five years, with a focus on high-ranking articles. In addition to going through more conventional solutions to UWB challenges, modern solutions, which involve the use of machine learning and sensor data fusion, are discussed. We highlight the most promising findings of the recently implemented and foreseen UWB positioning systems by providing a summary of each reviewed article. Additionally, we address a major challenge that faces the UWB positioning technology: NLOS situations, focusing on some proposed remedies such as multi-sensor fusion and machine learning. As an application, this study introduces how UWB technology promotes smart logistics by offering indoor positioning to improve efficiencies in the delivery of goods from the source to the customer. Furthermore, it demonstrates the benefits of UWB technology for accurate positioning and tracking of both stationary and moving items, and machinery in an indoor logistics environment.

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“…The localization method is based on the measurement of the distances between the onboard module and the anchors, and makes use of a suitable algorithm to extract the position of the center of gravity of the moving object [18][19][20]. Starting from n ≥ 3 distance measurements and applying a trilateration algorithm [21][22][23][24], it is possible to obtain an estimation of the position vector.…”

Section: Introductionmentioning

confidence: 99%

Localization in Structured Environments with UWB Devices without Acceleration Measurements, and Velocity Estimation Using a Kalman–Bucy Filter

Alonge

Cusumano

D’Ippolito

et al. 2022

Sensors

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In this work, a novel scheme for velocity and position estimation in a UWB range-based localization system is proposed. The suggested estimation strategy allows to overcome two main problems typically encountered in the localization systems. The first one is that it can be suitable for use in environments where the GPS signal is not present or where it might fail. The second one is that no accelerometer measurements are needed for the localization task. Moreover, to deal with the velocity estimation problem, a suitable Kalman–Bucy filter is designed and it is compared, experimentally, with a particle filter by showing the features of the two algorithms in order to be used in a localization context. Additionally, further experimental tests are carried out on a suitable developed test setup in order to confirm the goodness of the proposed approach.

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Integrated UWB/IMU system for high rate indoor navigation with cm-level accuracy

Cited by 9 publications

References 10 publications

Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications

Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications

Precision Positioning for Smart Logistics Using Ultra-Wideband Technology-Based Indoor Navigation: A Review

Localization in Structured Environments with UWB Devices without Acceleration Measurements, and Velocity Estimation Using a Kalman–Bucy Filter

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