Ocenjevanje trajektorije primikajoče tarče z merjenjem razdalj v UWB

Zupanec, Žiga (author), Šajn, Luka (mentor), Ricciato, Fabio (comentor)

V tem magistrskem delu rekonstruiramo začetno pozicijo ter hitrost in smer premikajoče se tarče v realnem okolju. Predlagamo postopek, ki ta dva vektorja izračuna na podlagi ocenjenih razdalj med premikajočo se tarčo in skupkom stacionarnih oddajnikov. Bistvo postopka je optimizacija kriterijske funkcije z metodo najmanjših kvadratov. Opravili smo obsežne eksperimente tako na prostem, kot v zaprtem prostoru. Podrobno smo analizirali dobljene rezultate in jih pokomentirali. Pri eksperimentih na prostem je napaka med končnim mestom trajektorij in dejansko lokacijo tarče manjša od enega metra. V zaprtem prostoru smo rahlo izboljšali natančnost obstoječega komercialnega sistema za določanje lokacije.

• Language: English
• Keywords: Merjenje razdalij, NLS, NLOS, UWB, premikajoča se tarča, lokacijska napaka, mobilna tarča, ocenjevanje hitrosti
• Work type: Master's thesis/paper
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2016
• PID: 20.500.12556/RUL-83462
• Publication date in RUL: 15.06.2016

Secondary language

• Language: Slovenian
• Title: Trajectory estimation of a moving target from UWB ranging measurements

Abstract

In this master thesis we reconstruct position and movement of a blind target node in a realistic environment based on ranging measurements from a set of fixed anchor nodes. We propose a method for trajectory estimation of a moving node based on minimizing residual sum defined as the difference between a reported and the actual distance from the anchor nodes. We devised extensive and complex outdoor as well as indoor experiments with exploratory data analysis and interpretation of the results. Our findings show that the method achieves sub one metre accuracy in an outdoor environment and a slight improvement over existing point based localization system in an indoor environment.

• Keywords: Ranging measurements, NLS, NLOS, UWB, blind node, localization error, mobile node, target node, velocity estimation