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Estimating the position of a mobile node by linear sensor fusion of ranging, speed, and orientation measurements has the potentiality to achieve high localization accuracy. Nevertheless, the design of these sensor fusion algorithms is uncertain if their fundamental limitations are unknown. Despite the substantial research focus on these sensor fusion methods, the characterization of the Cramér Rao...
The influence of the environmental configuration on AC magnetic distance-measurement systems, which are based on inductive coupling of tuned resonators, is experimentally analyzed. The main aspects that affect accuracy in such systems are the conductivity of the terrain and the presence of metallic materials near the resonators. It is shown that such aspects are frequency-dependent, and a tradeoff...
This paper addresses the problem of adaptive noise cancellation in a multi-channel system. The proposed canceller is a recursive system, based on the Least Mean Squares filter (LMS). This method is analyzed by simulations and experimental results are given. Specifically, it is shown that this technique can improve the accuracy of ultrasound ranging and positioning systems using multichannel receivers.
The difficulties and possibilities connected to indoor positioning suggest using several sources of navigational information. Apart from the signal processing of the individual sources this gives rise to the need for information fusion. This article aims at presenting and describing the signal processing methods and issues faced when constructing a navigation system based on a local ultra wide band...
The application of TDCs to wireless distance measurement problems is evaluated by means of experimental tests using a realized system. The system is capable of measuring the round-trip-time of ultra-wideband radio pulses propagating between two active transceivers, utilizing a commercial TDC with sub-nanosecond resolution. The results show an operational range of approximately 30 m in an indoor environment,...
This paper presents an impulse-radio UWB experimental platform for ranging and positioning in GNSS-challenged environments. The platform is based on the two-way time-of-arrival principle of operation, which reduces architecture complexity and relaxes the synchronization requirements with respect to time-of-arrival or time-difference-of-arrival solutions. The modular architecture of the platform is...
In this paper we have proposed a technique for cooperative localization where localization is done in distributive fashion without using any additional broadcast by nodes. The method relies on a fixed scheduled ultra-wideband (UWB) pulse transmissions by nodes in a predetermined way. The advantages of the proposed method is simpler hardware, comparatively less pulse transmission in the system hence...
In this paper, we present a modular test bed for ultra wideband ranging. The test bed comprises a 6.5 GHz radio front end interfacing with a baseband pulse transceiver and round-trip-time measurement module and with a flexible digital control and processing platform. The proposed radio front end allows to reduce antenna size and interference from narrowband users, with respect to the baseband pulse...
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