UWB-based wireless location tracking filter with in-motion channel error compensation

被引：0

作者：

Cho S.Y. ^{[1
]}

Oh J.-H. ^{[2
]}

机构：

[1] School of Robotics Engineering, Kyungil University

[2] Department of Civil Engineering, Korea Maritime and Ocean University

来源：

Journal of Institute of Control, Robotics and Systems | 2018年 / 24卷 / 08期

关键词：

Channel error; Localization filter; Non-calibration error; Ultra-wideband; Wireless location tracking;

D O I：

10.5302/J.ICROS.2018.18.0068

中图分类号：

TN8 [无线电设备、电信设备];

学科分类号：

0810 ; 081001 ;

摘要：

In this paper, a filter that can simultaneously estimate location of a mobile node and channel-specific errors (CSE) is proposed for ultra-wideband (UWB)-based indoor location tracking system. This filter can be used to correct the errors caused by not performing the calibration process prior to the location tracking service and to track the location of the mobile node. For this, we first define the channel common error (CCE) and CSE, and design location tracking filters that include each error as state variable. As a result of analyzing the observability of each filter, CCE model-based filter (CCE-F) shows faster estimation performance than CSE model-based filter (CSE-F), and CSE-F has more accurate error estimation performance than CCE-F. Taking this into consideration, in this paper, a sequential model change (SMC) filter that can compensate the errors fast and accurately is proposed by using the CCE-F and CSE-F sequentially. The superior performance of the proposed filter is analyzed through some simulation and confirmed through experiments. © ICROS 2018.

引用

页码：679 / 687

页数：8

共 12 条

[1]

Alarifi A., Al-Salman A., Alsaleh M., Alnafessah A., Al-Hadhrami S., Al-Ammar M.A., Al-Khalifa H.S., Ultra wideband indoor positioning technologies: analysis and recent advances,, Sensors, 16, 5, (2016)

[2]

Silva B., Hancke G.P., IR-UWB-based non-line-ofsight identification in harsh environments: priciples and challenges,, IEEE trans. Industrial Electronics, 12, 3, pp. 1188-1195, (2016)

[3]

Lim J.M., Jeong W.M., Sung T.K., Development of a WPAN-based self-positioning system for indoor flying robots,, Journal of Institute of Control, Robotics and Systems, 21, 5, pp. 490-495, (2015)

[4]

Cho S.Y., Kim J.Y., Enkhtur M., P2P ranging-based cooperative localization method for a cluster of mobile nodes containing IR-UWB PHY,, ETRI Journal, 35, 6, pp. 1084-1093, (2013)

[5]

Cho S.Y., Kang D., Kim J., Lee Y.J., Moon K.Y., Performance analysis of the wireless localization algorithms using the IR-UWB nodes with non-calibration errors,, Journal of Positioning, Navigation, and Timing, 6, 3, pp. 105-116, (2017)

[6]

Brown R.G., Hwang P.Y.C., Introduction to Random Signals and Applied Kalman Filtering, (1997)

[7]

Julier S.J., Uhlmann J.K., Durrant-Whyte H.F., A new method for nonlinear transformation of means and covariances in filters and estimators,, IEEE trans. Automatic Control, 45, 3, pp. 472-482, (2000)

[8]

Arasaratnam I., Haykin S., Cubature Kalman filters,, IEEE trans. Automatic Control, 54, 1, pp. 1254-1269, (2009)

[9]

Mendel J.M., Lessons in Estimation Theory for Signal Processing, (1995)

[10]

Biton I., Koifman M., Bar-Itzhack I.Y., Improved direct solution of the global positioning system equation,, Journal of Guidance, Control, and Dynamics, 21, 1, pp. 45-49, (1998)

← 1 2 →