Abstract
In this paper, we address the challenge of robust indoor positioning using integrated UWB and Wi-Fi measurements. A key limitation of any fusion algorithm is whether the distribution that describes the random errors in the measurements has been correctly specified. Here, we describe the details of a set of practical experiments conducted on a purpose built calibration range, to evaluate the performance of commercial UWB sensors with Wi-Fi measurements as captured by an in-house smartphone application. In this paper, we present comparisons of ranges from the UWB sensors and the Wi-Fi built into the smartphone to true ranges obtained from a robotic total station. This approach is validated in both static and kinematic tests. The calibration range has been established as one component of an indoor laboratory to undertake a more diverse research agenda into robust indoor positioning systems. The experiments presented here have been conducted collaboratively under the joint FIG (WG5.5) and IAG (SC4.2) working groups on multi-sensor systems.
Highlights
Localization capabilities are nowadays standard features in mobile devices leading to the fact that society has become increasingly reliant on a location-enabled lifestyle (Saeedi and El-Sheimy 2015)
Time Domain ® PulseON 410 Ultra-wide band (UWB) modules generate three types of range measurements using coarse range estimation (CRE) which is based on relative signal strength of the first received pulse, precise range measurement (PRM) which is the outcome of the TwoWay Time of Flight (TW-ToF) range estimation and the filtered range estimate (FRE) which is the outcome of an internal Kalman filter implementation of the P 410 module combining the CRE and PRM ranges (Dewberry and Beeler 2012)
As expected the ranges observed between nodes UWB 101 and 100 exhibit an increasing pattern, as the mobile node (UWB 101) is moving away from the stationary node (UWB 100), that is, to say the moving user walks from the room entrance to the other end of the room
Summary
Localization capabilities are nowadays standard features in mobile devices leading to the fact that society has become increasingly reliant on a location-enabled lifestyle (Saeedi and El-Sheimy 2015). The second technique based on lateration requires the use of theoretical path loss models to convert measured RSS values into ranges between the APs and the user to be able to perform a lateration approach.
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