超宽带双向测距网络AD-HOC自动测量精确导航-WPNC-2015-Precision-Navigation-Dewberry-Petroff

Abstract—A local navigation system is constructed from Ultra  Wideband (UWB) ranging radios participating in a Time  Division Multiple Access (TDMA) network. The radios share a  pre-configured slotmap allowing each node a duration with  which to simultaneously measure a distance and broadcast data.  The static “anchor” nodes range to one another, in turn. The  dynamic “mobile” nodes range to the anchors, in turn. During  each slot the ranging radio also broadcasts its last range  measurement using an “Echo Last Range” (ELR) protocol. A  Graphical User Interface (GUI) base station, wired to any one of  the nodes, gathers the ELR messages, dynamically computes the  anchor polygon using Least-Squares Regression, and updates the  mobile location(s) using an Extended Kalman Filter (EKF)  technique. User-supplied geometric and range-targeting  constraints allow improvements in accuracy and update rate.  The resulting system works well indoors and through nonmetallic walls, and can be quickly deployed and evaluated for  accuracy, latency, and coverage. Experimental results for range  accuracy, network operation and localization are described.

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