A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline Constraint
Ultra-wideband (UWB) technology is suitable for indoor positioning owing to its high resolution and penetration. However, the current UWB positioning methods not only fail to fully analyze errors, but do not have the ability to eliminate gross and large random errors. In this article, the errors of...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-09-01
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| Series: | ISPRS International Journal of Geo-Information |
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| Online Access: | https://www.mdpi.com/2220-9964/10/10/634 |
| _version_ | 1827679445138276352 |
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| author | Yinzhi Zhao Jingui Zou Jiming Guo Gege Huang Lixian Cai |
| author_facet | Yinzhi Zhao Jingui Zou Jiming Guo Gege Huang Lixian Cai |
| author_sort | Yinzhi Zhao |
| collection | DOAJ |
| description | Ultra-wideband (UWB) technology is suitable for indoor positioning owing to its high resolution and penetration. However, the current UWB positioning methods not only fail to fully analyze errors, but do not have the ability to eliminate gross and large random errors. In this article, the errors of UWB indoor positioning are analyzed comprehensively, and the basic function model is given. An indoor positioning method based on a double difference UWB with ranging observations is proposed and realized. In the proposed method, two UWB rover stations and a common base station are introduced, and the known baseline length between two rovers is used as the constraint condition for quality control. The observations and coordinate estimations are constrained by the prior and posteriori, respectively, and the weight of ranging observations with large residuals is reduced. Two groups of static experiments are designed. After adopting the proposed method, the plane error of one rover is 3.4 cm and 2.1 cm, and plane error of another rover is 3.3 cm and 2.0 cm, respectively. The positioning precision is improved by more than 80% compared with the traditional method. In the dynamic experiment, the coordinates of the starting and ending point obtained by the proposed method are basically consistent with the truth value, and the positioning results are close to the reference trajectory. The experimental results show that the proposed method can eliminate systematic and large random errors and improve the positioning precision effectively. |
| first_indexed | 2024-03-10T06:31:32Z |
| format | Article |
| id | doaj.art-2676b17f41c644738acf9466cecd623a |
| institution | Directory Open Access Journal |
| issn | 2220-9964 |
| language | English |
| last_indexed | 2024-03-10T06:31:32Z |
| publishDate | 2021-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | ISPRS International Journal of Geo-Information |
| spelling | doaj.art-2676b17f41c644738acf9466cecd623a2023-11-22T18:29:06ZengMDPI AGISPRS International Journal of Geo-Information2220-99642021-09-01101063410.3390/ijgi10100634A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline ConstraintYinzhi Zhao0Jingui Zou1Jiming Guo2Gege Huang3Lixian Cai4School of Geodesy and Geomatics, Wuhan University, Wuhan 430072, ChinaSchool of Geodesy and Geomatics, Wuhan University, Wuhan 430072, ChinaSchool of Geodesy and Geomatics, Wuhan University, Wuhan 430072, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430072, ChinaSchool of Geodesy and Geomatics, Wuhan University, Wuhan 430072, ChinaUltra-wideband (UWB) technology is suitable for indoor positioning owing to its high resolution and penetration. However, the current UWB positioning methods not only fail to fully analyze errors, but do not have the ability to eliminate gross and large random errors. In this article, the errors of UWB indoor positioning are analyzed comprehensively, and the basic function model is given. An indoor positioning method based on a double difference UWB with ranging observations is proposed and realized. In the proposed method, two UWB rover stations and a common base station are introduced, and the known baseline length between two rovers is used as the constraint condition for quality control. The observations and coordinate estimations are constrained by the prior and posteriori, respectively, and the weight of ranging observations with large residuals is reduced. Two groups of static experiments are designed. After adopting the proposed method, the plane error of one rover is 3.4 cm and 2.1 cm, and plane error of another rover is 3.3 cm and 2.0 cm, respectively. The positioning precision is improved by more than 80% compared with the traditional method. In the dynamic experiment, the coordinates of the starting and ending point obtained by the proposed method are basically consistent with the truth value, and the positioning results are close to the reference trajectory. The experimental results show that the proposed method can eliminate systematic and large random errors and improve the positioning precision effectively.https://www.mdpi.com/2220-9964/10/10/634ultra-widebandindoor positioningerrorsdouble differencebaseline constraint |
| spellingShingle | Yinzhi Zhao Jingui Zou Jiming Guo Gege Huang Lixian Cai A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline Constraint ISPRS International Journal of Geo-Information ultra-wideband indoor positioning errors double difference baseline constraint |
| title | A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline Constraint |
| title_full | A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline Constraint |
| title_fullStr | A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline Constraint |
| title_full_unstemmed | A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline Constraint |
| title_short | A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline Constraint |
| title_sort | novel ultra wideband double difference indoor positioning method with additional baseline constraint |
| topic | ultra-wideband indoor positioning errors double difference baseline constraint |
| url | https://www.mdpi.com/2220-9964/10/10/634 |
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