Abstract
The position accuracy based on Decawave Ultra-Wideband (UWB) is affected mainly by three factors: hardware delays, clock drift, and signal power. This article discusses the last two factors. The general approach to clock drift correction uses the phase-locked loop (PLL) integrator, which we show is subject to signal power variations, and therefore, is less suitable for clock drift correction. The general approach to the estimation of signal power correction curves requires additional measurement equipment. This article presents a new method for obtaining the curve without additional hardware and clock drift correction without the PLL integrator. Both correction methods were fused together to improve two-way ranging (TWR).
Highlights
IntroductionAutonomous systems became omnipresent in almost every field of the industry
In the last century, autonomous systems became omnipresent in almost every field of the industry.One of the most important tasks in robotics is the interaction between a robot and its environment.This task can only be accomplished if the location of the robot with respect to its environment is known
Radio-frequency-based (RF) sensors are able to operate in such conditions, but the outcome depends highly on measurement principles, such as received signal strength indicator (RSSI) [3], fingerprinting [4], FMCW [5] and UWB [6], as well as on techniques such as the angle of arrival [7], time of arrival [8] or time difference of arrival [9]
Summary
Autonomous systems became omnipresent in almost every field of the industry. The accuracy and precision of this chip are affected by three factors: hardware delays, clock drift, and signal power [13,14]. This article discusses clock drift correction and signal power error, which is specific to the Decawave UWB transceiver and affects the accuracy of the position significantly. The general approach to estimating signal power dependency is to use ground truth data, which are provided by additional measurement equipment [15]. The general approach to Decawave UWB clock drift correction is to use the integrator of the phase-locked loop (PLL) [16,17,18,19]. We explain that the general approach to clock drift correction is not suitable because the PLL is affected by the signal power. The last part of this article presents a two-way ranging (TWR) method that is able to use the correction methods for distance estimation
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