A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data

Lian Sang C, Adams M, Hesse M, Hörmann T, Korthals T, Rückert U (Accepted)
Presented at the IEEE 16th Workshop on Positioning, Navigation and Communications (WPNC'19), Bremen, Germany.

Konferenzbeitrag | Angenommen | Englisch
 
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Abstract / Bemerkung
In this paper, we analyze five true-range positioning algorithms for UWB-based localization systems. The evaluated algorithms are: (i) trilateration using a geometric method, (ii) a closed-form multilateration solution using least squares, (iii) an iterative approach using first-order Taylor series, a recursive solution based on (iv) the EKF, and (v) the UKF. In contrast to the existing comparative studies in literature, which are solely based on simulation results, our analysis is based on experimental evaluations. The evaluated algorithms are strictly chosen for a scenario, where a true-range multilateration method is applicable. True-range means the accuracy of the measured ranges is not influenced by the clock drift errors. The performance comparison of the five algorithms is examined and discussed in the paper.
Stichworte
comparative study; comparative review; true-range; positioning algorithm; performance comparison; UWB; trilateration; multilateration; Taylor series; EKF; UKF; Kalman
Erscheinungsjahr
2019
Konferenz
IEEE 16th Workshop on Positioning, Navigation and Communications (WPNC'19)
Konferenzort
Bremen, Germany
Konferenzdatum
2019-10-23 – 2019-10-24
Page URI
https://pub.uni-bielefeld.de/record/2937505

Zitieren

Lian Sang C, Adams M, Hesse M, Hörmann T, Korthals T, Rückert U. A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data . Presented at the IEEE 16th Workshop on Positioning, Navigation and Communications (WPNC'19), Bremen, Germany.
Lian Sang, C., Adams, M., Hesse, M., Hörmann, T., Korthals, T., & Rückert, U. (Accepted). A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data . Presented at the IEEE 16th Workshop on Positioning, Navigation and Communications (WPNC'19), Bremen, Germany.
Lian Sang, C., Adams, M., Hesse, M., Hörmann, T., Korthals, T., and Rückert, U. (Accepted).“A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data ”. Presented at the IEEE 16th Workshop on Positioning, Navigation and Communications (WPNC'19), Bremen, Germany.
Lian Sang, C., et al., Accepted. A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data . Presented at the IEEE 16th Workshop on Positioning, Navigation and Communications (WPNC'19), Bremen, Germany.
C. Lian Sang, et al., “A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data ”, Presented at the IEEE 16th Workshop on Positioning, Navigation and Communications (WPNC'19), Bremen, Germany, IEEE, Accepted.
Lian Sang, C., Adams, M., Hesse, M., Hörmann, T., Korthals, T., Rückert, U.: A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data . Presented at the IEEE 16th Workshop on Positioning, Navigation and Communications (WPNC'19), Bremen, Germany (Accepted).
Lian Sang, Cung, Adams, Michael, Hesse, Marc, Hörmann, Timm, Korthals, Timo, and Rückert, Ulrich. “A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data ”. Presented at the IEEE 16th Workshop on Positioning, Navigation and Communications (WPNC'19), Bremen, Germany, IEEE, Accepted.

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