An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems
Autor(a) principal: | |
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Data de Publicação: | 2022 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.22/20629 |
Resumo: | In this paper, we propose a new ultra-wideband (UWB)-based simultaneous localization and wall-mapping (SLAM) system, which adopts two-way ranging optimization on UWB anchor and tag nodes to track the target's real-time movement in an unknown area. The proposed UWB-based SLAM system captures time difference of arrival (TDoA) of the anchor nodes' signals over a line-of-sight propagation path and reflected paths. The real-time location of the UWB tag is estimated according to the real-time TDoA measurements. To minimize the estimation error resulting from background noise in the two-way ranging, a Least Squares Method is implemented to minimize the estimation error for the localization of a static target, while Kalman Filter is applied for the localization of a mobile target. An experimental testbed is built based on off-the-shelf UWB hardware. Experiments validate that a reflector, e.g., a wall, and the UWB tag can be located according to the two-way ranging measurement. The localization accuracy of the proposed SLAM system is also evaluated, where the difference between the estimated location and the ground truth trajectory is less than 15cm. |
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An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems220302Ultra-widebandSimultaneous localization and mappingTDoAOptimizationExperimental testbedIn this paper, we propose a new ultra-wideband (UWB)-based simultaneous localization and wall-mapping (SLAM) system, which adopts two-way ranging optimization on UWB anchor and tag nodes to track the target's real-time movement in an unknown area. The proposed UWB-based SLAM system captures time difference of arrival (TDoA) of the anchor nodes' signals over a line-of-sight propagation path and reflected paths. The real-time location of the UWB tag is estimated according to the real-time TDoA measurements. To minimize the estimation error resulting from background noise in the two-way ranging, a Least Squares Method is implemented to minimize the estimation error for the localization of a static target, while Kalman Filter is applied for the localization of a mobile target. An experimental testbed is built based on off-the-shelf UWB hardware. Experiments validate that a reflector, e.g., a wall, and the UWB tag can be located according to the two-way ranging measurement. The localization accuracy of the proposed SLAM system is also evaluated, where the difference between the estimated location and the ground truth trajectory is less than 15cm.This work was partially supported by National Funds through FCT/MCTES (Portuguese Foundation for Science and Technology), within the CISTER Research Unit (UIDP/UIDB/04234/2020); also by the Operational Competitiveness Programme and Internationalization (COMPETE 2020) under the PT2020 Partnership Agreement, through the European Regional Development Fund (ERDF), and by national funds through the FCT, within project ARNET (POCI-01-0145-FEDER-029074).Repositório Científico do Instituto Politécnico do PortoLi, KaiNi, WeiWei, BoGuizani, Mohsen2022-06-22T08:22:42Z2022-05-302022-05-30T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdftext/plain; charset=utf-8http://hdl.handle.net/10400.22/20629enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T13:16:08Zoai:recipp.ipp.pt:10400.22/20629Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:40:40.768422Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems 220302 |
title |
An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems |
spellingShingle |
An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems Li, Kai Ultra-wideband Simultaneous localization and mapping TDoA Optimization Experimental testbed |
title_short |
An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems |
title_full |
An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems |
title_fullStr |
An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems |
title_full_unstemmed |
An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems |
title_sort |
An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems |
author |
Li, Kai |
author_facet |
Li, Kai Ni, Wei Wei, Bo Guizani, Mohsen |
author_role |
author |
author2 |
Ni, Wei Wei, Bo Guizani, Mohsen |
author2_role |
author author author |
dc.contributor.none.fl_str_mv |
Repositório Científico do Instituto Politécnico do Porto |
dc.contributor.author.fl_str_mv |
Li, Kai Ni, Wei Wei, Bo Guizani, Mohsen |
dc.subject.por.fl_str_mv |
Ultra-wideband Simultaneous localization and mapping TDoA Optimization Experimental testbed |
topic |
Ultra-wideband Simultaneous localization and mapping TDoA Optimization Experimental testbed |
description |
In this paper, we propose a new ultra-wideband (UWB)-based simultaneous localization and wall-mapping (SLAM) system, which adopts two-way ranging optimization on UWB anchor and tag nodes to track the target's real-time movement in an unknown area. The proposed UWB-based SLAM system captures time difference of arrival (TDoA) of the anchor nodes' signals over a line-of-sight propagation path and reflected paths. The real-time location of the UWB tag is estimated according to the real-time TDoA measurements. To minimize the estimation error resulting from background noise in the two-way ranging, a Least Squares Method is implemented to minimize the estimation error for the localization of a static target, while Kalman Filter is applied for the localization of a mobile target. An experimental testbed is built based on off-the-shelf UWB hardware. Experiments validate that a reflector, e.g., a wall, and the UWB tag can be located according to the two-way ranging measurement. The localization accuracy of the proposed SLAM system is also evaluated, where the difference between the estimated location and the ground truth trajectory is less than 15cm. |
publishDate |
2022 |
dc.date.none.fl_str_mv |
2022-06-22T08:22:42Z 2022-05-30 2022-05-30T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10400.22/20629 |
url |
http://hdl.handle.net/10400.22/20629 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf text/plain; charset=utf-8 |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
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RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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