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

Delamare, Mickaël; Boutteau, Rémi; Savatier, Xavier; Iriart, Nicolas

doi:10.3390/sci1030062

Cited by 11 publications

(4 citation statements)

References 35 publications

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“…(1) Kalman filter (KF). Kalman [10] proposed a new method for linear filtering and prediction problems, which used the linear system state equation to observe system input and output data in order to best estimate the state of the system. Benefiting from the advantages of strong real-time performance, high speed, and high efficiency, the KF has been widely used in anti-interference [11].…”

Section: Related Workmentioning

confidence: 99%

Improved Indoor Positioning Model Based on UWB/IMU Tight Combination with Double-Loop Cumulative Error Estimation

Zhu,

Zhao,

Zhang

et al. 2023

Applied Sciences

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With the increasing applications of UWB indoor positioning technologies in industrial areas, to further enhance the positioning precision, the UWB/IMU combination method (UICM) has been considered as one of the most effective solutions to reduce non-line-of-sight (NLOS) errors. However, most conversional UICMs suffer from a high probability of positioning failure due to uncontrollable and cumulative errors from inertial measuring units (IMU). Hence, to address this issue, we improved the extended Kalman filter (EKF) algorithm of an indoor positioning model based on UWB/IMU tight combination with a double-loop error self-correction. Compared with conventional UICMs, this improved model consists of new modules for fixing time desynchronization, optimizing the threshold setting for UWB ranging, data fusion in NLOS, and double-loop error estimation, sequentially. Further, systematic error controllability analysis proved that the proposed model could satisfy the controllability of UWB indoor positioning systems. To validate this improved UICM, inevitable obstacles and atmospheric interferences were regarded as Gaussian white noises to verify its environmental adaptability. Finally, the experimental results showed that this proposed model outperformed the state-of-the-art UWB-based positioning models with a maximum deviation of 0.232 m (reduced by 83.93% compared to a pure UWB model and 43.14% compared to the conventional UWB/IMU model) and standard deviation of 0.09981 m (reduced by 88.35% compared to a pure UWB model and 22.21% compared to the conventional UWB-IMU model).

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Section: Related Workmentioning

confidence: 99%

Improved Indoor Positioning Model Based on UWB/IMU Tight Combination with Double-Loop Cumulative Error Estimation

Zhu,

Zhao,

Zhang

et al. 2023

Applied Sciences

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“…The global navigation satellite system (GNSS) is the dominating technology for global positioning systems (GPSs), but since the GNSS signals are not able to penetrate buildings, other technologies should be used for indoor positioning systems (IPS). Methods using WiFi, ultra-wideband (UWB) [ 10 ], Zigbee [ 11 ], or visible light communication (VLC) were proposed. WiFi is often used for coarse urban localization with accuracy of tens of meters, but some methods for IPS were also developed [ 12 ].…”

Section: Iot/ble-based Positioning and Tracking Systemsmentioning

confidence: 99%

BLE-Based Indoor Tracking System with Overlapping-Resistant IoT Solution for Tourism Applications

Belka¹,

Deniziak²,

Łukawski³

et al. 2021

Sensors

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In this paper, an overlapping-resistant Internet of Things (IoT) solution for a Bluetooth Low Energy (BLE)-based indoor tracking system (BLE-ITS) is presented. The BLE-ITS is a promising, inexpensive alternative to the well-known GPS. It can be used in human traffic analysis, such as indoor tourist facilities. Tourists or other customers are tagged by a unique MAC address assigned to a simple and energy-saving BLE beacon emitter. Their location is determined by a distributed and scalable network of popular Raspberry Pi microcomputers equipped with BLE and WiFi/Ethernet modules. Only simple triggered messages in the form of login records (LRs) are sent to a server, where the so-called path vectors (PVs) and interest profile (IPr) are set. The authors implemented the prototype and demonstrated its usefulness in a controlled environment. As it is shown in the paper, the solution is highly overlap-resistant and mitigates the so-called multilocation problem.

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“…However, this architecture presents a major disadvantage from our point of view: each tag to be located can only measure ranges with a maximum of four anchors. The same Decawave system that is going to be explored in this paper (MDEK1001) was recently studied by Delamare [ 21 ] and found that using only four ranges was limiting, and they concluded that a larger number of anchors should be used for better accuracy.…”

Section: Introductionmentioning

confidence: 99%

Improving the Accuracy of Decawave’s UWB MDEK1001 Location System by Gaining Access to Multiple Ranges

Jiménez

Seco

2021

Sensors

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The location of people, robots, and Internet-of-Things (IoT) devices has become increasingly important. Among the available location technologies, solutions based on ultrawideband (UWB) radio are having much success due to their accuracy, which is ideally at a centimeter level. However, this accuracy is degraded in most common indoor environments due to the presence of obstacles which block or reflect the radio signals used for ranging. One way to circumvent this difficulty is through robust estimation algorithms based on measurement redundancy, permitting to minimize the effect of significantly erroneous ranges (outliers). This need for redundancy often conflicts with hardware restraints put up by the location system’s designers. In this work, we present a procedure to increase the redundancy of UWB systems and demonstrate it with the help of a commercial system made by Decawave. This system is particularly easy to deploy, by configuring a network of beacons (anchors) and devices (tags) to be located; however, its architecture presents a major disadvantage as each tag to be located can only measure ranges to a maximum of four anchors. This limitation is embedded in the Positioning and Networking Stack (PANS) protocol designed by Decawave, and therefore is not easy to bypass without a total redesign of the firmware. In this paper, we analyze the strategies that we have been able to identify in order to provide this equipment with multiple range measurements, and thus enable each tag to be positioned with more than four measured ranges. We will see the advantages and disadvantages of each of these strategies, and finally we will adopt a solution that we implemented to be able to measure up to eight ranges for each mobile device (tag). This solution implies the duplication of the tags at the mobile user, and the creation of a double interleaved network of anchors. The range among tags and the eight beacons is obtained through an API via a wireless BLE protocol at a 10 Hz rate. A robustified Extended Kalman filter (EKF) is designed to estimate, by trilateration, the position of the pair of mobile tags, using eight ranges. Two different scenarios are used to make localization experimentation: a laboratory and an apartment. Our position estimation, which exploits redundant information and performs outlier removal, is compared with the commercial solution limited to four ranges, demonstrating the need and advantages of our multi-range approach.

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

Cited by 11 publications

References 35 publications

Improved Indoor Positioning Model Based on UWB/IMU Tight Combination with Double-Loop Cumulative Error Estimation

Improved Indoor Positioning Model Based on UWB/IMU Tight Combination with Double-Loop Cumulative Error Estimation

BLE-Based Indoor Tracking System with Overlapping-Resistant IoT Solution for Tourism Applications

Improving the Accuracy of Decawave’s UWB MDEK1001 Location System by Gaining Access to Multiple Ranges

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