Accuracy Analysis of UWB Based Tracking System for Unmanned Ground Vehicles

Abstract

Autonomy of unmanned ground vehicles is a significant feature, which enables more efficient use of these platforms in various applications. An autonomous platform can be directed by the operator to perform specified tasks with assumed accuracy, without the need to continuously control the behavior of the platform. This paper contains the accuracy analysis for operator tracking tasks with a wireless ultra wide band system. These tasks are investigated through simulation and field measurements. Four stationary transmitters are placed on an unmanned ground vehicle. A mobile transmitter, mounted on a tripod, is used for position marking. The vehicle remained stationary, while the transmitter was moved across a known route over the field. Positions of a transmitter in the horizontal plane are determined and compared with the designated route. Location distribution for several real positions is shown. Real measurements with simulated are compared. Indoor measurements are also performed. Results have shown that tested ultra wide band system has a linear error of a maximum of 0.5 m at distance of 10 m, which is sufficient for use in an unmanned vehicle tracking system.