Precise Relative Positioning via Tight-Coupling of GPS Carrier Phase and Multiple UWBs

Mohanty, Adyasha; Wu, Asta; Bhamidipati, Sriramya; Gao, Grace Xingxin

doi:10.1109/lra.2022.3145051

Cited by 13 publications

(2 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…There are inherent errors in each sensor so they cannot be eliminated and accumulate with time [13]. It has high positioning accuracy for a short time, but is not suitable for long time precise positioning [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Precision Inter-Row Relative Positioning Method by Using 3D LiDAR in Planted Forests and Orchards

Liu,

Ji,

Zeng

et al. 2024

Agronomy

View full text Add to dashboard Cite

Accurate positioning at the inter-row canopy can provide data support for precision variable-rate spraying. Therefore, there is an urgent need to design a reliable positioning method for the inter-row canopy of closed orchards (planted forests). In the study, the Extended Kalman Filter (EKF) fusion positioning method (method C) was first constructed by calibrating the IMU and encoder with errors. Meanwhile, 3D Light Detection and Ranging (LiDAR) observations were introduced to be fused into Method C. An EKF fusion positioning method (method D) based on 3D LiDAR corrected detection was designed. The method starts or closes method C by the presence or absence of the canopy. The vertically installed 3D LiDAR detected the canopy body center, providing the vehicle with inter-row vertical distance and heading. They were obtained through the distance between the center of the body and fixed row spacing. This can provide an accurate initial position for method C and correct the positioning trajectory. Finally, the positioning and canopy length measurement experiments were designed using a GPS positioning system. The results show that the method proposed in this study can significantly improve the accuracy of length measurement and positioning at the inter-row canopy, which does not significantly change with the distance traveled. In the orchard experiment, the average positioning deviations of the lateral and vertical distances at the inter-row canopy are 0.1 m and 0.2 m, respectively, with an average heading deviation of 6.75°, and the average relative error of canopy length measurement was 4.35%. The method can provide a simple and reliable inter-row positioning method for current remote-controlled and manned agricultural machinery when working in standardized 3D crops. This can modify the above-mentioned machinery to improve its automation level.

show abstract

Section: Introductionmentioning

confidence: 99%

Precision Inter-Row Relative Positioning Method by Using 3D LiDAR in Planted Forests and Orchards

Liu,

Ji,

Zeng

et al. 2024

Agronomy

View full text Add to dashboard Cite

show abstract

“…Establishing the relative positions of objects is critical for various collaborative applications, including robot movement tracking, virtual/augmented reality (VR/AR), line following, and autonomous vehicles. Establishing the relative positioning between two objects is usually dependent on the deployment of fixed or mobile anchors based on Bluetooth [1], Wi-Fi [2], Global Positioning System (GPS) [3], or ultra-wideband (UWB) radio technology [4]. Most of the solutions applied in relative-position systems use range-measurement techniques.…”

Section: Introductionmentioning

confidence: 99%

Relative-Position Estimation Based on Loosely Coupled UWB–IMU Fusion for Wearable IoT Devices

Sagar¹,

Kim²,

Park³

et al. 2023

Computers, Materials &Amp; Continua

View full text Add to dashboard Cite

Relative positioning is one of the important techniques in collaborative robotics, autonomous vehicles, and virtual/augmented reality (VR/AR) applications. Recently, ultra-wideband (UWB) has been utilized to calculate relative position as it does not require a line of sight compared to a camera to calculate the range between two objects with centimeter-level accuracy. However, the single UWB range measurement cannot provide the relative position and attitude of any device in three dimensions (3D) because of lacking bearing information. In this paper, we have proposed a UWB-IMU fusion-based relative position system to provide accurate relative position and attitude between wearable Internet of Things (IoT) devices in 3D. We introduce a distributed Euler angle antenna orientation which can be equipped with the mobile structure to enable relative positioning. Moving average and min-max removing preprocessing filters are introduced to reduce the standard deviation. The standard multilateration method is modified to calculate the relative position between mobile structures. We combine UWB and IMU measurements in a probabilistic framework that enables users to calculate the relative position between two nodes with less error. We have carried out different experiments to illustrate the advantages of fusing IMU and UWB ranges for relative positioning systems. We have achieved a mean accuracy of 0.31 m for 3D relative positioning in indoor line of sight conditions.

show abstract

Real-Time Implementation of Relative Positioning Approaches Using Low-Cost Single-Frequency GPS Receivers and Raspberry Pi Platform for Agriculture Applications

Halitim,

Bouhedda,

Tchoketch-Kebir

et al. 2024

J Control Autom Electr Syst

View full text Add to dashboard Cite

Precise Relative Positioning via Tight-Coupling of GPS Carrier Phase and Multiple UWBs

Cited by 13 publications

References 16 publications

Precision Inter-Row Relative Positioning Method by Using 3D LiDAR in Planted Forests and Orchards

Precision Inter-Row Relative Positioning Method by Using 3D LiDAR in Planted Forests and Orchards

Relative-Position Estimation Based on Loosely Coupled UWB–IMU Fusion for Wearable IoT Devices

Real-Time Implementation of Relative Positioning Approaches Using Low-Cost Single-Frequency GPS Receivers and Raspberry Pi Platform for Agriculture Applications

Contact Info

Product

Resources

About