scholarly journals UWB Based Relative Planar Localization with Enhanced Precision for Intelligent Vehicles

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 144
Author(s):  
Mingyang Wang ◽  
Xinbo Chen ◽  
Pengyuan Lv ◽  
Baobao Jin ◽  
Wei Wang ◽  
...  
Keyword(s):  
Rapid Development ◽  
Dead Reckoning ◽  
Correction Method ◽  
Intelligent Vehicles ◽  
Ultra Wideband ◽  
Localization Algorithm ◽  
Cruise Control ◽  
Localization System ◽  
Positioning Errors ◽  
Forward Collision Warning

Along with the rapid development of advanced driving assistance systems for intelligent vehicles, essential functions such as forward collision warning and collaborative cruise control need to detect the relative positions of surrounding vehicles. This paper proposes a relative planar localization system based on the ultra-wideband (UWB) ranging technology. Three UWB modules are installed on the top of each vehicle. Because of the limited space on the vehicle roof compared with the ranging error, the traditional triangulation method leads to significant positioning errors. Therefore, an optimal localization algorithm combining homotopy and the Levenberg–Marquardt method is first proposed to enhance the precision. The triangular side lengths and directed area are introduced as constraints. Secondly, a UWB sensor error self-correction method is presented to further improve the ranging accuracy. Finally, we carry out simulations and experiments to show that the presented algorithm in this paper significantly improves the relative position and orientation precision of both the pure UWB localization system and the fusion system integrated with dead reckoning.

Ultra-Wideband-Based Localization for Quadcopter Navigation

2016 ◽  
Vol 04 (01) ◽  
pp. 23-34 ◽  
Author(s):  
Kexin Guo ◽  
Zhirong Qiu ◽  
Cunxiao Miao ◽  
Abdul Hanif Zaini ◽  
Chun-Lin Chen ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Global Positioning System ◽  
Ultra Wideband ◽  
Line Of Sight ◽  
Positioning System ◽  
Localization Algorithm ◽  
Control Loop ◽  
Flight Tests ◽  
Localization System ◽  
Global Positioning

Micro unmanned aerial vehicles (UAVs) are promising to play more and more important roles in both civilian and military activities. Currently, the navigation of UAVs is critically dependent on the localization service provided by the Global Positioning System (GPS), which suffers from the multipath effect and blockage of line-of-sight, and fails to work in an indoor, forest or urban environment. In this paper, we establish a localization system for quadcopters based on ultra-wideband (UWB) range measurements. To achieve the localization, a UWB module is installed on the quadcopter to actively send ranging requests to some fixed UWB modules at known positions (anchors). Once a distance is obtained, it is calibrated first and then goes through outlier detection before being fed to a localization algorithm. The localization algorithm is initialized by trilateration and sustained by the extended Kalman filter (EKF). The position and velocity estimates produced by the algorithm will be further fed to the control loop to aid the navigation of the quadcopter. Various flight tests in different environments have been conducted to validate the performance of UWB ranging and localization algorithm.

scholarly journals AGV Localization System Based on Ultra-Wideband and Vision Guidance

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 448 ◽  
Author(s):  
Xiaohao Hu ◽  
Zai Luo ◽  
Wensong Jiang
Keyword(s):  
Monocular Vision ◽  
Ultra Wideband ◽  
Localization Algorithm ◽  
Localization Accuracy ◽  
Localization Method ◽  
Localization System ◽  
Indoor Location ◽  
Accurate Localization ◽  
Vision Localization ◽  
Automated Storage

Aiming at the problems of low localization accuracy and complicated localization methods of the automatic guided vehicle (AGV) in the current automatic storage and transportation process, a combined localization method based on the ultra-wideband (UWB) and the visual guidance is proposed. Both the UWB localization method and the monocular vision localization method are applied to the indoor location of the AGV. According to the corner points of an ArUco code fixed on the AGV body, the monocular vision localization method can solve the pose information of the AGV by the PnP algorithm in real-time. As an auxiliary localization method, the UWB localization method is called to locate the AGV coordinates. The distance from the tag on the AGV body to the surrounding anchors is measured by the time of flight (TOF) ranging algorithm, and the actual coordinates of the AGV are calculated by the trilateral centroid localization algorithm. Then, the localization data of the UWB is corrected by the mean compensation method to obtain a consistent and accurate localization trajectory. The experiment result shows that this localization system has an error of 15mm, which meets the needs of AGV location in the process of automated storage and transportation.

scholarly journals A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3485
Author(s):  
Mingyang Wang ◽  
Xinbo Chen ◽  
Baobao Jin ◽  
Pengyuan Lv ◽  
Wei Wang ◽  
...  
Keyword(s):  
Kinematic Model ◽  
Dead Reckoning ◽  
Warning System ◽  
Wheel Speed ◽  
Intelligent Vehicles ◽  
The Body ◽  
Ultra Wideband ◽  
Collision Warning ◽  
Vehicle Collision ◽  
Vehicle Active Safety

The collision warning system (CWS) plays an essential role in vehicle active safety. However, traditional distance-measuring solutions, e.g., millimeter-wave radars, ultrasonic radars, and lidars, fail to reflect vehicles’ relative attitude and motion trends. In this paper, we proposed a vehicle-to-vehicle (V2V) cooperative collision warning system (CCWS) consisting of an ultra-wideband (UWB) relative positioning/directing module and a dead reckoning (DR) module with wheel-speed sensors. Each vehicle has four UWB modules on the body corners and two wheel-speed sensors on the rear wheels in the presented configuration. An over-constrained localization method is proposed to calculate the relative position and orientation with the UWB data more accurately. Vehicle velocities and yaw rates are measured by wheel-speed sensors. An extended Kalman filter (EKF) is applied based on the relative kinematic model to combine the UWB and DR data. Finally, the time to collision (TTC) is estimated based on the predicted vehicle collision position. Furthermore, through UWB signals, vehicles can simultaneously communicate with each other and share information, e.g., velocity, yaw rate, which brings the potential for enhanced real-time performance. Simulation and experimental results show that the proposed method significantly improves the positioning, directing, and velocity estimating accuracy, and the proposed system can efficiently provide collision warning.

scholarly journals Acoustic Indoor Localization System Integrating TDMA+FDMA Transmission Scheme and Positioning Correction Technique

Sensors ◽  
2019 ◽  
Vol 19 (10) ◽  
pp. 2353 ◽  
Author(s):  
Xiang Chen ◽  
Yuheng Chen ◽  
Shuai Cao ◽  
Lei Zhang ◽  
Xu Zhang ◽  
...  
Keyword(s):  
Multiple Access ◽  
Indoor Localization ◽  
Circle Method ◽  
Correction Method ◽  
Positioning System ◽  
Transmission Scheme ◽  
Localization System ◽  
Positioning Errors ◽  
Correction Technique ◽  
Update Rate

This paper presents a novel audio indoor localization system. In the proposed system, four speakers placed at known positions transmit chirp signals according to the time-division multiple access (TDMA) plus frequency-division multiple access (FDMA) transmission scheme. A smartphone receives the signal via a built-in microphone and calculates the time differences of arrival (TDOAs). Using TDOA measurements, the position is estimated by the shrinking-circle method. In particular, to reduce the positioning error in moving conditions, a TDOA correction method based on Doppler shifts is proposed. The performance of the proposed system was evaluated in real-world experiments using a 10.971 m × 5.684 m positioning area. The results of the static-target positioning experiment showed that the TDMA+FDMA transmission scheme has more advantages in improving the update rate of the positioning system than the TDMA-only transmission scheme. The results of the moving-target positioning experiment under three different speeds demonstrated that the positioning errors were reduced by about 10 cm when the Doppler-shift-based TDOA correction method was adopted. This research provides a possible framework for the realization of a TDOA-chirp-based acoustic indoor positioning system with high positioning accuracy and update rate.

Design of a Bell-Shaped Ultra Wideband Antenna for Indoor Localization System

2015 ◽  
Vol 5 (6) ◽  
pp. 323 ◽  
Author(s):  
Nadia Ghariani ◽  
Mohamed Salah Karoui ◽  
Mondher Chaoui ◽  
Mongi Lahiani ◽  
Hamadi Ghariani
Keyword(s):  
Indoor Localization ◽  
Ultra Wideband ◽  
Localization System ◽  
Wideband Antenna

3D localization for subcentimeter-sized devices

2021 ◽  
Vol 64 (3) ◽  
pp. 117-125
Author(s):  
Rajalakshmi Nandakumar ◽  
Vikram Iyer ◽  
Shyamnath Gollakota
Keyword(s):  
Metropolitan Area ◽  
Ultra Wideband ◽  
Phase Information ◽  
Noise Floor ◽  
Localization System ◽  
Coin Cell ◽  
3D Localization ◽  
Button Cell ◽  
Iot Devices ◽  
5 Ghz

The vision of tracking small IoT devices runs into the reality of localization technologies---today it is difficult to continuously track objects through walls in homes and warehouses on a coin cell battery. Although Wi-Fi and ultra-wideband radios can provide tracking through walls, they do not last more than a month on small coin and button cell batteries because they consume tens of milliwatts of power. We present the first localization system that consumes microwatts of power at a mobile device and can be localized across multiple rooms in settings such as homes and hospitals. To this end, we introduce a multiband backscatter prototype that operates across 900 MHz, 2.4 GHz, and 5 GHz and can extract the backscatter phase information from signals that are below the noise floor. We build subcentimeter-sized prototypes that consume 93 μW and could last five to ten years on button cell batteries. We achieved ranges of up to 60 m away from the AP and accuracies of 2, 12, 50, and 145 cm at 1, 5, 30, and 60 m, respectively. To demonstrate the potential of our design, we deploy it in two real-world scenarios: five homes in a metropolitan area and the surgery wing of a hospital in patient pre-op and post-op rooms as well as storage facilities.

scholarly journals A UWB-Driven Self-Actuated Projector Platform for Interactive Augmented Reality Applications

2021 ◽  
Vol 11 (6) ◽  
pp. 2871
Author(s):  
Ahmed Elsharkawy ◽  
Khawar Naheem ◽  
Dongwoo Koo ◽  
Mun Sang Kim
Keyword(s):  
Augmented Reality ◽  
Interaction Design ◽  
Rapid Development ◽  
Interactive Technology ◽  
Ultra Wideband ◽  
Wireless Sensor ◽  
Interactive System ◽  
Input Device ◽  
Reasonable Accuracy ◽  
Calibration Algorithm

With the rapid development of interactive technology, creating systems that allow users to define their interactive envelope freely and provide multi-interactive modalities is important to build up an intuitive interactive space. We present an indoor interactive system where a human can customize and interact through a projected screen utilizing the surrounding surfaces. An ultra-wideband (UWB) wireless sensor network was used to assist human-centered interaction design and navigate the self-actuated projector platform. We developed a UWB-based calibration algorithm to facilitate the interaction with the customized projected screens, where a hand-held input device was designed to perform mid-air interactive functions. Sixteen participants were recruited to evaluate the system performance. A prototype level implementation was tested inside a simulated museum environment, where a self-actuated projector provides interactive explanatory content for the on-display artifacts under the user’s command. Our results depict the applicability to designate the interactive screen efficiently indoors and interact with the augmented content with reasonable accuracy and relatively low workload. Our findings also provide valuable user experience information regarding the design of mobile and projection-based augmented reality systems, with the ability to overcome the limitations of other conventional techniques.

scholarly journals Robust Sparse Bayesian Learning-Based Off-Grid DOA Estimation Method for Vehicle Localization

Sensors ◽  
2020 ◽  
Vol 20 (1) ◽  
pp. 302 ◽  
Author(s):  
Yun Ling ◽  
Huotao Gao ◽  
Sang Zhou ◽  
Lijuan Yang ◽  
Fangyu Ren
Keyword(s):  
Autonomous Vehicles ◽  
Bayesian Learning ◽  
Rapid Development ◽  
Estimation Method ◽  
Estimation Algorithm ◽  
Doa Estimation ◽  
Sparse Bayesian Learning ◽  
Vehicle Localization ◽  
Localization System ◽  
Sparse Signal Representation

With the rapid development of the Internet of Things (IoT), autonomous vehicles have been receiving more and more attention because they own many advantages compared with traditional vehicles. A robust and accurate vehicle localization system is critical to the safety and the efficiency of autonomous vehicles. The global positioning system (GPS) has been widely applied to the vehicle localization systems. However, the accuracy and the reliability of GPS have suffered in some scenarios. In this paper, we present a robust and accurate vehicle localization system consisting of a bistatic passive radar, in which the performance of localization is solely dependent on the accuracy of the proposed off-grid direction of arrival (DOA) estimation algorithm. Under the framework of sparse Bayesian learning (SBL), the source powers and the noise variance are estimated by a fast evidence maximization method, and the off-grid gap is effectively handled by an advanced grid refining strategy. Simulation results show that the proposed method exhibits better performance than the existing sparse signal representation-based algorithms, and performs well in the vehicle localization system.

scholarly journals Improvement of the Angle of Arrival Measurement Accuracy for Indoor UWB Localization

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
N. Awarkeh ◽  
J.-C. Cousin ◽  
M. Muller ◽  
N. Samama
Keyword(s):  
Measurement Accuracy ◽  
Continuous Wave ◽  
Energy Detection ◽  
Angle Measurement ◽  
Phase Correlation ◽  
Ultra Wideband ◽  
Line Of Sight ◽  
Angle Of Arrival ◽  
Localization System ◽  
Classical Energy

This paper shows that the accuracy of azimuth angle measurement for an interferometric localization system used to locate tags in its Line-of-Sight (LoS) can be improved by exploiting Impulse Radio-Ultra WideBand (IR-UWB) signals and without increasing the frequency bandwidth. This solution uses a Phase Correlation (PC) method, initially applied for Continuous Wave (CW) signals, adapted for Ultra WideBand (UWB) pulse signals. The obtained results are compared to those computed by a classical Energy Detection (ED) method where it becomes impossible to estimate azimuth angles for tag positions close to the orthogonal centered axis of the localization system baseline.

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