Abstract
In the GPS-denied environment, Ultra-Wideband (UWB) technology has great potential to solve the problem of relative localization among near-ground mobile robots. Our goal is to establish a near-ground UWB pathloss channel model with antenna height, distance and surface type. In this paper, we built up an on-site UWB signal measurement set, with antenna heights of 0–30 cm and signal frequencies from 3 to 8 GHz. The proposed model is compiled with a lognormal shadow path attenuation model, there is not only a logarithmic function relationship between the path loss parameters and the antenna height, but also surface type with different roughness play a key role on pathloss variance. The model was validated against multiple experimental data sets obtained in open grazing areas.
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