Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment (original) (raw)
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International Association of Geodesy Symposia, 2020
Localization in GNSS-denied/challenged indoor/outdoor and transitional environments represents a challenging research problem. As part of the joint IAG/FIG Working Groups 4.1.1 and 5.5 on Multi-sensor Systems, a benchmarking measurement campaign was conducted at The Ohio State University. Initial experiments have demonstrated that Cooperative Localization (CL) is extremely useful for positioning and navigation of platforms navigating in swarms or networks. In the data acquisition campaign, multiple sensor platforms, including vehicles, bicyclists and pedestrians were equipped with combinations of GNSS, Ultra-wide Band (UWB), Wireless Fidelity (Wi-Fi), Raspberry Pi units, cameras, Light Detection and Ranging (LiDAR) and inertial sensors for CL. Pedestrians wore a specially designed helmet equipped with some of these sensors. An overview of the experimental configurations, test scenarios, characteristics and sensor specifications is given. It has been demonstrated that all involved se...
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2017 IEEE International Conference on Robotics and Automation (ICRA), 2017
Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertialmeasurement unit (IMU) is promising to determine the change of position over short periods of time, but it is very sensitive to error accumulation over long term run. By equipping the mobile users with ranging unit, e.g. ultra-wideband (UWB), it is possible to achieve accurate relative positioning by trilaterationbased approaches. As compared to vision or laser-based sensors, the UWB does not need to be with in line-of-sight and provides accurate distance estimation. However, UWB does not provide any bearing information and the communication range is limited, thus UWB alone cannot determine the user location without any ambiguity. In this paper, we propose an approach to combine IMU inertial and UWB ranging measurement for relative positioning between multiple mobile users without the knowledge of the infrastructure. We incorporate the UWB and the IMU measurement into a probabilistic-based framework, which allows to cooperatively position a group of mobile users and recover from positioning failures. We have conducted extensive experiments to demonstrate the benefits of incorporating IMU inertial and UWB ranging measurements.
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A Peer to Infrastructure (P2I) cooperative localization system makes use of existing infrastructure network for localization of mobile platforms. This interconnected network can be utilized for several applications besides communication such as disaster management, situational awareness, search and rescue, guided navigation, Cooperative Intelligent Transport System etc. The focus of this paper is development and analysis of a localization system using a well-established infrastructure network. This paper develops methods of localization of dynamic platforms such as Unmanned Aerial Vehicles (UAV) equipped with GNSS, inertial sensors (INS), ultra-wide band (UWB) and wireless local area network (Wi-Fi) receivers. Traditional platforms (cars, UAVs etc.) rely on GNSS for accurate localization and thus cannot be used in indoor environments or other GNSS challenging regions. This paper leverages continuously deployed networks of urban infrastructure that provide signals of opportunity such as Wi-Fi, as well as UWB to develop a robust localization system which is capable of providing a continuous and seamless position solution in both indoor and outdoor environments. This paper also provides an analysis of this localization system using numerical simulations and discusses experimental results of a developed prototype. The contributions of this paper include development and analysis of a prototype cooperative localization system and quantification of its performance. Initial simulation results show that in GNSS denied regions, a platform may be able to achieve positioning accuracy comparable to the accuracy provided by a GNSS under certain conditions. In GNSS available regions, other signals further improve the solution obtained using only GNSS. The simulation results are validated using experiments and the developed system achieves an accuracy of better than 10m more than 95% of the time using a maximum of 4 UWB measurements when GNSS is not present at all and more than 3 UWB measurements are available only 2.5% of time. Higher localization accuracy can be achieved using dense infrastructure network and better quality of UWB measurements.
Journal of Applied Geodesy, 2020
Localization in GNSS-denied/challenged indoor/outdoor and transitional environments represents a challenging research problem. This paper reports about a sequence of extensive experiments, conducted at The Ohio State University (OSU) as part of the joint effort of the FIG/IAG WG on Multi-sensor Systems. Their overall aim is to assess the feasibility of achieving GNSS-like performance for ubiquitous positioning in terms of autonomous, global, preferably infrastructure-free positioning of portable platforms at affordable cost efficiency. In the data acquisition campaign, multiple sensor platforms, including vehicles, bicyclists and pedestrians were used whereby cooperative positioning (CP) is the major focus to achieve a joint navigation solution. The GPSVan of The Ohio State University was used as the main reference vehicle and for pedestrians, a specially designed helmet was developed. The employed/tested positioning techniques are based on using sensor data from GNSS, Ultra-wide Ba...
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Localization systems based on ultrawide bandwidth (UWB) technology have been recently considered for indoor environments, due to the property of UWB signals to resolve multipath and penetrate obstacles. However, line-of-sight (LoS) blockage and excess propagation delay affect ranging measurements thus drastically reducing the localization accuracy. In this paper, we first characterize and derive models for the range estimation error and the excess delay based on measured data from real ranging devices. These models are used in various multilateration algorithms to determine the position of the target. Using measurements in a real indoor scenario, we investigate how the localization accuracy is affected by the number of beacons and by the availability of priori information about the environment and network geometry. We also examine the case where multiple targets cooperate by measuring ranges not only from the beacons but also from each other. An iterative multilateration algorithm that incorporates information gathered through cooperation is then proposed with the purpose of improving the localization accuracy. Using numerical results, we demonstrate the impact of cooperation on the localization accuracy.
UWB/GNSS-based Cooperative Positioning Method for V2X Applications
Limited availability of GNSS signals in urban canyons is a challenge for the implementation of many positioningbased traffic safety applications, and V2X technology provides an alternative solution to resolve this problem. As a key communication component in V2X technology, Dedicated Short Range Communication (DSRC) not only allows vehicles to exchange their position, but also traffic safety related information such as real-time congestion, up-to-date accident details, speed limits, etc. This position and traffic information could underpin various traffic safety applications - for instance, lane departure warnings, potential collision avoidance, and traffic congestion warnings. By taking advantage of DSRC, a vehicle in a GNSS denied environment is able to calculate its position using the assistance of other vehicles with sufficient GNSS signals to fix their locations. The concept of cooperative positioning, which is also called collaborative positioning, has been proposed to achieve...
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