动态机器人场景下超宽带定位系统的三维性能分析

2019 16th Workshop on Positioning, Navigation and Communications (WPNC) Pub Date : 2019-10-01 DOI:10.1109/WPNC47567.2019.8970183

Markus Pichler-Scheder, Klaus Pendl, Richard Schmidt, Michael Petruzelka, Günther Mühlberger

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引用次数: 0

摘要

室内定位在工业环境中越来越受到关注，以跟踪车辆，机器人或操作员的运动。低成本超宽带射频定位芯片的可用性即使在具有挑战性的金属环境中也能实现高精度的3D位置估计。在这项工作中，我们提出了一个基于Decawave DW1000芯片的室内定位设置和动态工业机器人场景中的3D估计结果。对两种不同工作模式下的估计精度进行了性能分析，并与cram - rao下界给出的理论极限进行了比较。

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3D Performance Analysis of a UWB Positioning System in a Dynamic Robotic Scenario

Indoor positioning is gaining increasing attention in the industrial context to track vehicle, robot, or operator motions. The availability of low-cost ultra-wideband RF localization chips facilitates highly accurate 3D position estimation even in challenging metallic environments. In this work, we present an indoor positioning setup based on the Decawave DW1000 chip and 3D estimation results in a dynamic industrial robotic scenario. A performance analysis of achieved estimation accuracies from two different modes of operation is compared to the theoretical limits given by the Cramér-Rao lower bound.

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2019 16th Workshop on Positioning, Navigation and Communications (WPNC)

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