超寬帶雙向測(cè)距網(wǎng)絡(luò)AD-HOC自動(dòng)測(cè)量精確導(dǎo)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.