UWB System for Indoor Positioning and Tracking with Arbitrary Target Orientation, Optimal Anchor Location, and Adaptive NLOS Mitigation

Chen, Yuyao; Huang, Shihping Kevin; Wu, Ting-Wei; Tsai, Wei-Ting; Liou, Chong-Yi; Mao, Shau‐Gang

doi:10.1109/tvt.2020.2972578

Cited by 56 publications

(25 citation statements)

References 41 publications

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“…The UWB positioning system, using two-way ranging (TWR) and NLOS mitigation, was proposed in our previous work [ 25 ]. However, the positioning interval increases drastically when there are a large number of devices that need to be located.…”

Section: Uwb Positioning System With Tdoa Algorithmmentioning

confidence: 99%

“…The positioning accuracy depends on the time resolution of the propagating wave. Ultrasound is only suitable for line-of-sight (LOS) conditions, while UWB can be applied in non-line-of-sight (NLOS) conditions [ 25 ].…”

Section: Introductionmentioning

confidence: 99%

“…In contrast with RSS-based solutions, UWB can clearly distinguish LOS signals from multipath signals even in complex environments because of its precise time resolution [ 27 ]. The nanosecond-scaled Channel Impulse Response (CIR) provided by UWB chips can even be used to mitigate NLOS interference [ 25 , 28 , 29 ]. Moreover, recent developments in UWB technology have extended its interoperability and flexibility to provide cost-effective and robust solutions for autonomous navigation.…”

Section: Introductionmentioning

confidence: 99%

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Ultra-Wideband Positioning Sensor with Application to an Autonomous Ultraviolet-C Disinfection Vehicle

Huang

Neo

Chen

et al. 2021

Sensors

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Due to the COVID-19 virus being highly transmittable, frequently cleaning and disinfecting facilities is common guidance in public places. However, the more often the environment is cleaned, the higher the risk of cleaning staff getting infected. Therefore, strong demand for sanitizing areas in automatic modes is undoubtedly expected. In this paper, an autonomous disinfection vehicle with an Ultraviolet-C (UVC) lamp is designed and implemented using an ultra-wideband (UWB) positioning sensor. The UVC dose for 90% inactivation of the reproductive ability of COVID-19 is 41.7 J/m2, which a 40 W UVC lamp can achieve within a 1.6 m distance for an exposure time of 30 s. With this UVC lamp, the disinfection vehicle can effectively sterilize in various scenarios. In addition, the high-accuracy UWB positioning system, with the time difference of arrival (TDOA) algorithm, is also studied for autonomous vehicle navigation in indoor environments. The number of UWB tags that use a synchronization protocol between UWB anchors can be unlimited. Moreover, this proposed Gradient Descent (GD), which uses Taylor method, is a high-efficient algorithm for finding the optimal position for real-time computation due to its low error and short calculating time. The generalized traversal path planning procedure, with the edge searching method, is presented to improve the efficiency of autonomous navigation. The average error of the practical navigation demonstrated in the meeting room is 0.10 m. The scalability of the designed system to different application scenarios is also discussed and experimentally demonstrated. Hence, the usefulness of the proposed UWB sensor applied to UVC disinfection vehicles to prevent COVID-19 infection is verified by employing it to sterilize indoor environments without human operation.

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Section: Uwb Positioning System With Tdoa Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Ultra-Wideband Positioning Sensor with Application to an Autonomous Ultraviolet-C Disinfection Vehicle

Huang

Neo

Chen

et al. 2021

Sensors

Self Cite

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“…The UWB sensor can also be used for the localization of various objects, such as mobile robots ( Chen et al, 2020 ; Shi et al, 2020 ), flying drones ( Wang, Marelli & Fu, 2021 ; González-Castaño et al, 2021 ; Hyun et al, 2019 ), and users ( Zhang et al, 2019 ; Knobloch, 2017 ), because it can provide precise distance measurements based on the time-of-flight (TOF) principle at short-range regions while using low power. In addition, since the UWB distance sensor is inexpensive, the UWB-based localization system can advantageously be implemented at an economical cost, even though multiple UWB sensor modules are used.…”

Section: Introductionmentioning

confidence: 99%

Ultrawideband (UWB)-based precise short-range localization for wireless power transfer to electric vehicles in parking environments

Lee

2021

PeerJ Computer Science

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As the necessity of wireless charging to support the popularization of electric vehicles (EVs) emerges, the development of a wireless power transfer (WPT) system for EV wireless charging is rapidly progressing. The WPT system requires alignment between the transmitter coils installed on the parking lot floor and the receiver coils in the vehicle. To automatically align the two sets of coils, the WPT system needs a localization technology that can precisely estimate the vehicle’s pose in real time. This paper proposes a novel short-range precise localization method based on ultrawideband (UWB) modules for application to WPT systems. The UWB module is widely used as a localization sensor because it has a high accuracy while using low power. In this paper, the minimum number of UWB modules consisting of two UWB anchors and two UWB tags that can determine the vehicle’s pose is derived through mathematical analysis. The proposed localization algorithm determines the vehicle’s initial pose by globally optimizing the collected UWB distance measurements and estimates the vehicle’s pose by fusing the vehicle’s wheel odometry data and the UWB distance measurements. To verify the performance of the proposed UWB-based localization method, we perform various simulations and real vehicle-based experiments.

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“…Yang [ 17 ] proposed a Sparse Pseudo-input Gaussian Process (SPGP) based on the NLoS method, which has low complexity compared with conventional approaches. Chen et al [ 18 ] investigated NLoS mitigation under different machine learning methods such as long short-term memory (LSTM), convolutional neural network (CNN), and deep neural network (DNN). In some fusion strategies, the data under an NLoS scenario are discarded directly.…”

Section: Introductionmentioning

confidence: 99%

A CSI-Based Indoor Positioning System Using Single UWB Ranging Correction

Long

Kong

Zhang

et al. 2021

Sensors

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A fingerprint-based localization system is an economic way to solve an indoor positioning problem. However, the traditional off-line fingerprint collection stage is a time-consuming and laborious process which limits the use of fingerprint-based localization systems. In this paper, based on ubiquitous Wireless Fidelity (Wi-Fi) equipment and a low-cost Ultra-Wideband (UWB) ranging system (with only one UWB anchor), a ready-to-use indoor localization system is proposed to realize long-term and high-accuracy indoor positioning. More specifically, in this system, it is divided into two stages: (1) an initial stage, and (2) a positioning stage. In the initial stage, an Inertial Measure Unit (IMU) is used to calculate the position using Pedestrian Dead Reckon (PDR) algorithm within a preset number of steps, and the location-related fingerprints are collected to train a Convolutional Neural Network (CNN) regression model; simultaneously, in order to make the UWB ranging system adapt to the Non-Line-of-Sight (NLoS) environment, the increments of acceleration and angular velocity in IMU and the increments of single UWB ranging measures are correlated to pre-train a Supported Vector Regression (SVR). After reaching the threshold of time or step number, the system is changed into a positioning stage, and the CNN predicts the position calibrated by corrected UWB ranging. At last, a series of practical experiments are conducted in the real environment; the experiment results show that, due to the corrected UWB ranging measures calibrating the CNN parameters in every positioning period, this system has stable localization results in a comparative long-term range. Additionally, it has the advantages of stability, low cost, anti-noise, etc.

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UWB System for Indoor Positioning and Tracking with Arbitrary Target Orientation, Optimal Anchor Location, and Adaptive NLOS Mitigation

Cited by 56 publications

References 41 publications

Ultra-Wideband Positioning Sensor with Application to an Autonomous Ultraviolet-C Disinfection Vehicle

Ultra-Wideband Positioning Sensor with Application to an Autonomous Ultraviolet-C Disinfection Vehicle

Ultrawideband (UWB)-based precise short-range localization for wireless power transfer to electric vehicles in parking environments

A CSI-Based Indoor Positioning System Using Single UWB Ranging Correction

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