An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems

Kai Li, Wei Ni, Bo Wei, Mohsen Guizani

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, we propose a new ultra-wideband (UWB)-based simultaneous localization and wall-mapping (SLAM) system, which adopts two-way ranging optimization on UWB anchor and tag nodes to track the target's real-time movement in an unknown area. The proposed UWB-based SLAM system captures time difference of arrival (TDoA) of the anchor nodes' signals over a line-of-sight propagation path and reflected paths. The real-time location of the UWB tag is estimated according to the real-time TDoA measurements. To minimize the estimation error resulting from background noise in the two-way ranging, a Least Squares Method is implemented to minimize the estimation error for the localization of a static target, while Kalman Filter is applied for the localization of a mobile target. An experimental testbed is built based on off-the-shelf UWB hardware. Experiments validate that a reflector, e.g., a wall, and the UWB tag can be located according to the two-way ranging measurement. The localization accuracy of the proposed SLAM system is also evaluated, where the difference between the estimated location and the ground truth trajectory is less than 1 meter.
Original languageEnglish
Title of host publicationProceedings of the 18th IEEE International Wireless Communications & Mobile Computing Conference (IWCMC 2022)
Place of PublicationPiscataway
PublisherIEEE
Pages871-877
ISBN (Electronic)9781665467490, 9781665467483
ISBN (Print)978166546750-6
DOIs
Publication statusPublished - 30 May 2022
EventThe 18th IEEE International Wireless Communications & Mobile Computing Conference (IWCMC 2022): Intelligent and Secure Communications - Valamar Dubrovnik President Hotel, Dubrovnik, Croatia
Duration: 30 May 20223 Jun 2022
Conference number: 18th
https://iwcmc.org/2022/

Conference

ConferenceThe 18th IEEE International Wireless Communications & Mobile Computing Conference (IWCMC 2022)
Abbreviated titleIWCMC 2022
Country/TerritoryCroatia
CityDubrovnik
Period30/05/223/06/22
Internet address

Fingerprint

Dive into the research topics of 'An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems'. Together they form a unique fingerprint.

Cite this