An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKF
In this paper, a new emergency positioning technique is proposed based on ad hoc GNSS/UWB (Global Navigation Satellite System/Ultra-Wideband) network. The main innovations of the program are reflected in two aspects. First of all, a unified coordinate frame for indoor and outdoor environments is con...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-07-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/14/3135 |
| _version_ | 1817989329702617088 |
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| author | Houzeng Han Jian Wang Fei Liu Jixian Zhang Deng Yang Binghao Li |
| author_facet | Houzeng Han Jian Wang Fei Liu Jixian Zhang Deng Yang Binghao Li |
| author_sort | Houzeng Han |
| collection | DOAJ |
| description | In this paper, a new emergency positioning technique is proposed based on ad hoc GNSS/UWB (Global Navigation Satellite System/Ultra-Wideband) network. The main innovations of the program are reflected in two aspects. First of all, a unified coordinate frame for indoor and outdoor environments is constructed dynamically with GNSS/UWB integration. In the outdoor environments, the high accuracy positioning can be achieved with GNSS/UWB equipment. The high-accuracy indoor coordinate is obtained by measuring the range observations between adjacent network nodes and outdoor GNSS/UWB nodes, and the range information of the UWB network is transmitted to the cloud server center. A network adjustment algorithm is proposed to improve the positioning accuracy of the UWB network. Secondly, a UWB indoor location algorithm based on robust EKF (Extended Kalman Filter) is proposed. By analyzing the transfer characteristics of gross error in EKF model, a new robust EKF model is established. The model is constructed based on the statistical characteristics of redundant observation components and prediction residual. The robust equivalent gain matrix is constructed, and the robust positioning solution of UWB is obtained with iteration. The global test is carried out first to further improve the real-time operation efficiency. Finally, a field indoor and outdoor seamless positioning experiment was carried out to verify the effectiveness of the proposed algorithm. The results show that the positioning accuracy of UWB emergency network nodes (anchors) can reach 0.35 m. Based on the network, the positioning accuracy of the tag can reach 0.38 m by applying the improved robust EKF positioning algorithm, which is improved by 20.83% and 73.43% compared with standard EKF and least square method, respectively. |
| first_indexed | 2024-04-14T00:45:37Z |
| format | Article |
| id | doaj.art-e9343949e12e454b85e2cca91ef23d6e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T00:45:37Z |
| publishDate | 2019-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-e9343949e12e454b85e2cca91ef23d6e2022-12-22T02:22:02ZengMDPI AGSensors1424-82202019-07-011914313510.3390/s19143135s19143135An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKFHouzeng Han0Jian Wang1Fei Liu2Jixian Zhang3Deng Yang4Binghao Li5School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaSchool of Environment Science and Spatial Informatics, China University of Mining and Technology (CUMT), Xuzhou 221116, ChinaNational Quality Inspection and Testing Center for Surveying and Mapping Products, Beijing 100830, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaSchool of Minerals and Energy Resources Engineering, The University of New South Wales (UNSW), Sydney 2053, AustraliaIn this paper, a new emergency positioning technique is proposed based on ad hoc GNSS/UWB (Global Navigation Satellite System/Ultra-Wideband) network. The main innovations of the program are reflected in two aspects. First of all, a unified coordinate frame for indoor and outdoor environments is constructed dynamically with GNSS/UWB integration. In the outdoor environments, the high accuracy positioning can be achieved with GNSS/UWB equipment. The high-accuracy indoor coordinate is obtained by measuring the range observations between adjacent network nodes and outdoor GNSS/UWB nodes, and the range information of the UWB network is transmitted to the cloud server center. A network adjustment algorithm is proposed to improve the positioning accuracy of the UWB network. Secondly, a UWB indoor location algorithm based on robust EKF (Extended Kalman Filter) is proposed. By analyzing the transfer characteristics of gross error in EKF model, a new robust EKF model is established. The model is constructed based on the statistical characteristics of redundant observation components and prediction residual. The robust equivalent gain matrix is constructed, and the robust positioning solution of UWB is obtained with iteration. The global test is carried out first to further improve the real-time operation efficiency. Finally, a field indoor and outdoor seamless positioning experiment was carried out to verify the effectiveness of the proposed algorithm. The results show that the positioning accuracy of UWB emergency network nodes (anchors) can reach 0.35 m. Based on the network, the positioning accuracy of the tag can reach 0.38 m by applying the improved robust EKF positioning algorithm, which is improved by 20.83% and 73.43% compared with standard EKF and least square method, respectively.https://www.mdpi.com/1424-8220/19/14/3135emergency positioningUWBrobust EKFindoor and outdoor seamless positioning |
| spellingShingle | Houzeng Han Jian Wang Fei Liu Jixian Zhang Deng Yang Binghao Li An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKF Sensors emergency positioning UWB robust EKF indoor and outdoor seamless positioning |
| title | An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKF |
| title_full | An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKF |
| title_fullStr | An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKF |
| title_full_unstemmed | An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKF |
| title_short | An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKF |
| title_sort | emergency seamless positioning technique based on ad hoc uwb networking using robust ekf |
| topic | emergency positioning UWB robust EKF indoor and outdoor seamless positioning |
| url | https://www.mdpi.com/1424-8220/19/14/3135 |
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