A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data

Cung Lian Sang, Michael Adams, Marc Hesse, Timm Hörmann, Timo Korthals, U. Rückert
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引用次数: 4

Abstract

In this paper, we analyze five true-range positioning algorithms for UWB-based localization systems. The evaluated algorithms are: (i) trilateration using a geometric method, (ii) a closed-form multilateration solution using least squares, (iii) an iterative approach using first-order Taylor series, a recursive solution based on (iv) the Extended Kalman Filter (EKF), and (v) the Unscented Kalman Filter (UKF). In contrast to the existing comparative studies in literature, which are solely based on simulation results, our analysis is based on experimental evaluations. The evaluated algorithms are strictly chosen for a scenario, where a true-range multilateration method is applicable. True-range means the accuracy of the measured ranges is not influenced by the clock drift errors. The performance comparison of the five algorithms is examined and discussed in the paper.
基于实验数据的超宽带真距离定位算法比较研究
在本文中,我们分析了五种基于超宽带定位系统的真距离定位算法。评估的算法是:(i)使用几何方法的三边测量,(ii)使用最小二乘法的封闭形式多边测量,(iii)使用一阶泰勒级数的迭代方法,基于(iv)扩展卡尔曼滤波器(EKF)的递归解,以及(v)无气味卡尔曼滤波器(UKF)。与现有文献中单纯基于模拟结果的比较研究不同,我们的分析是基于实验评价的。所评估的算法是严格选择的场景,其中一个真范围乘法方法是适用的。真量程是指测量范围的精度不受时钟漂移误差的影响。对这五种算法的性能进行了比较分析和讨论。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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