Abstract
This article addresses a novel real-time locating system for localization of high-speed mobile objects in fading environments. The proposed locating system exploits time difference of arrival measurements based on ultra-wideband signals. However, the ultra-wideband signals cause a frequency-selective fading due to their short time duration, which induces severe inter-symbol interference. Moreover, high-speed objects cause fast fading due to large Doppler spread. Therefore, the fading cases considerably reduce the localization performance. The presented locating system relies on a new localization approach in order to overcome the fading issues, which utilizes a modification of extended Kalman filtering. Especially, the suggested locating method works well even in the zero time difference of arrival case, which occurs due to a very deep fading. Experiment results verify that the proposed real-time locating system gives excellent localization performance in severe fading environments. The results also exhibit that the presented locating system is superior to the conventional locating systems in the localization of high-speed mobile objects under fading environments.
Highlights
A lot of attention has been paid to real-time locating system (RTLS) for localization of high-speed mobile objects such as mobile robots or autonomous vehicles
In the case that mobile objects move with high speed, fast fading occurs due to large Doppler spread,[14] which deteriorates the localization performance of the extended Kalman filter (EKF)
This article proposes a novel RTLS for localization of high-speed mobile objects in fading environments
Summary
A lot of attention has been paid to real-time locating system (RTLS) for localization of high-speed mobile objects such as mobile robots or autonomous vehicles. In the case that mobile objects move with high speed, fast fading occurs due to large Doppler spread,[14] which deteriorates the localization performance of the EKF. This article presents a novel RTLS for localization of high-speed mobile objects in fading environments. The results exhibit that the modified EKF method outperforms the direct method and the conventional EKF approach in several tracks They confirm that the presented RTLS can accurately localize the high-speed mobile objects such as autonomous vehicles in fading environments. The main contributions of our research are as follows: The proposed RTLS can considerably mitigate the frequency-selective fading and the deep fading effects, which leads to accurate localization of high-speed objects. The proposed RTLS is very suitable for localization of high-speed objects such as autonomous vehicles
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