Precise Indoor Positioning Using UWB: A Review of Methods, Algorithms and Implementations

Mazhar, Fazeelat; Khan, Muhammad Gufran; Sällberg, Benny

doi:10.1007/s11277-017-4734-x

Cited by 128 publications

(90 citation statements)

References 71 publications

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“…where h(x) is the observation function. The observation vector z consists of the TOA measurements of all N antennas given by Equation (6). The total number of measurements is…”

Section: Measurement Modelmentioning

confidence: 99%

See 1 more Smart Citation

Distributed Multi-Antenna Positioning for Automatic-Guided Vehicle

Zhao

Cui

et al. 2020

Sensors

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Radio-based positioning systems are typically utilized to provide high-precision position information for automatic-guided vehicles (AGVs). However, the presence of obstacles in harsh environments, as well as carried cargoes on the AGV, will degrade the localization performance, since they block the propagation of radio signals. In this paper, a distributed multi-antenna positioning system is proposed, where multiple synchronous antennas are equipped on corners of an AGV to improve the availability and accuracy of positioning. An estimator based on the Levenberg–Marquardt algorithm is introduced to solve the nonlinear pseudo-range equations. To obtain the global optimal solutions, we propose a coarse estimator that utilizes the displacement knowledge of the antennas to provide a rough initial guess. Simulation results show a better availability of our system compared with the single antenna positioning system. Decimeter accuracy can be obtained under a Gaussian measurement noise with a standard deviation of 0.2 m. The results also demonstrate that the proposed algorithm can achieve positioning accuracy close to the theoretical Cramer–Rao lower bound. Furthermore, given prior information of the yaw angle, the same level of accuracy can be obtained by the proposed algorithm without the coarse estimation step.

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“…where h(x) is the observation function. The observation vector z consists of the TOA measurements of all N antennas given by Equation (6). The total number of measurements is…”

Section: Measurement Modelmentioning

confidence: 99%

“…However, GNSS signals are subject to blockage and multipath, which decrease the continuity and availability of the carrier phase measurements and further lower the precision, robustness, and availability of positioning [4,5]. Moreover, it is not suitable for indoor positioning due to significant signal loss [6,7].…”

Section: Introductionmentioning

confidence: 99%

Distributed Multi-Antenna Positioning for Automatic-Guided Vehicle

Zhao

Cui

et al. 2020

Sensors

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“…In operating scenarios, where there is a group of nodes in the same physical proximity, and some of these nodes can position itself with relative accuracy, Ultra-wideband positioning and localization systems have been used in different scenarios that require centimeter ranging accuracy with constraints on the cost and the power of the ranging devices. The applications of UWB-based localization systems include first responders in emergency situations, assets tracking and monitoring, medical and wellness applications, security and access control, locating nodes in wireless sensor networks, and for military applications [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

LocSpeck: A Collaborative and Distributed Positioning System for Asymmetric Nodes Based on UWB Ad-Hoc Network and Wi-Fi Fingerprinting

Sakr

Masiero

El‐Sheimy

2019

Sensors

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This paper presents LocSpeck, a collaborative and distributed indoor positioning system for dynamic nodes connected using an ad-hoc network, based on inter-node relative range measurements and Wi-Fi fingerprinting. The proposed system operates using peer-to-peer range measurements and does not need ultra-wideband (UWB) fixed anchor, nor it needs a predefined network topology. The nodes could be asymmetric in terms of the available sensors onboard, the computational resources, and the power capacity. This asymmetry adversely affects the positioning performance of the weaker nodes. Collaboration between different nodes is achieved through a distributed estimator without the need of a single centralized computing element. The ranging measurement component of the system is based on the DW1000 UWB transceiver chip from Decawave, which is attached to a set of smartphones equipped with asymmetric sensors. The distributed positioning filter fuses, locally on each node, the relative range measurements, the reading from the internal sensors, and the Wi-Fi received signal strength indicator (RSSI) readings to obtain an estimate of the position of each node. The described system does not depend on fixed UWB anchors and supports online addition and removal of nodes and dynamic node role assignment, either as an anchor or as a rover. The performance of the system is evaluated by real-world test scenarios using a set of four smartphones navigating an indoor environment on foot. The performance is compared to that of a commercial UWB-based system. The results presented in this paper show that weak mobile nodes, in terms of available positioning sensors, can benefit from collaboration with other nearby nodes.Sensors 2020, 20, 78 2 of 28 using relative measurements can augment the stand-alone observations of each node and improve the positioning accuracy of the ensemble [2,3]. The use of relative range measurements introduces an additional constraint to the position estimation filter, which can improve the positioning accuracy of the collaborating nodes [4]. Ultra-wideband (UWB) ranging devices are more immune to multipath errors because it can distinguish between different events with a precise temporal resolution, thanks to its large channel bandwidth. This makes the UWB-based devices capable of achieving centimeter-level ranging accuracy in ideal operating conditions [5].The objective of this paper is to present LocSpeck, a collaborative and distributed positioning system targeting smartphones and handheld applications, which uses UWB-based relative range measurements, along with Wi-Fi fingerprinting and inertial sensors. The system is evaluated experimentally, and the results are compared to the performance of Pozyx, a commercial UWB-based positioning system. The rest of this section will provide a brief overview of different ranging and positioning techniques used in UWB-based systems, and then it will discuss the different network architectures used for range-based positioning applications. UWB-Based RangingSensors 2020, 20,...

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“…The internal building environment is very complex, and as a result, a wide variety of technologies for solving indoor positioning problems are offered in studies and literature, but so far, no solution has been established that can be recognized as standard and the best [13][14][15][16][17]. It can be argued that the problem with indoor positioning is more difficult than the problem of only localization [18,19].…”

Section: Introductionmentioning

confidence: 99%

Information system for seamless positioning inside of objects under construction

2018

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Methods for seamless positioning of objects inside objects under construction to ensure the implementation of the principle “always and everywhere” and achieving centimetre positioning accuracy is proposed. The current state of work on the development of experimental samples of hardware and software complexes for seamless indoor and outdoor positioning of objects is presented. It is proposed to use radio-frequency technologies to solve the problem. The main methodological approaches and their first implementations are presented. The main feature of algorithms proposed is the implementation of a seamless transition when determining the position of the object in indoor and outdoor space with usage of an inertial system and radio-frequency positioning systems (in real time regime and without real time regime).

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Precise Indoor Positioning Using UWB: A Review of Methods, Algorithms and Implementations

Cited by 128 publications

References 71 publications

Distributed Multi-Antenna Positioning for Automatic-Guided Vehicle

Distributed Multi-Antenna Positioning for Automatic-Guided Vehicle

LocSpeck: A Collaborative and Distributed Positioning System for Asymmetric Nodes Based on UWB Ad-Hoc Network and Wi-Fi Fingerprinting

Information system for seamless positioning inside of objects under construction

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