Positioning using UWB-IR and IMU
This dissertation is concentrated on how to reduce the number of UWB (Ultra wide-band Impulse Radio) anchor nodes while maintaining certain level of positioning accuracy by integration with IMU (Inertia Mesurement Unit). Meanwhile, the accumulated errors of IMU positioning introduced by integration...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2021
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| Online Access: | https://hdl.handle.net/10356/153440 |
| _version_ | 1811691055067693056 |
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| author | Lang, Hao |
| author2 | Law Choi Look |
| author_facet | Law Choi Look Lang, Hao |
| author_sort | Lang, Hao |
| collection | NTU |
| description | This dissertation is concentrated on how to reduce the number of UWB (Ultra wide-band Impulse Radio) anchor nodes while maintaining certain level of positioning accuracy by integration with IMU (Inertia Mesurement Unit). Meanwhile, the accumulated errors of IMU positioning introduced by integration can be calibrated using UWB measurements. Important properties of UWB-IR and IMU sensors are introduced. The positioning method and drifts calibration of IMU are discussed as well as the ranging method of UWB-IR standalone. Loose coupling and tight coupling are chosen to integrate the UWB-IR position data with IMU sensors data. Compared to the single positioning method, both of the fusion approaches can offer better accuracy. The tight coupling performs better on the NLOS conditions. The experiments and result analyses were mainly implemented on the Raspberry Pi with Python. |
| first_indexed | 2024-10-01T06:13:48Z |
| format | Thesis-Master by Coursework |
| id | ntu-10356/153440 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:13:48Z |
| publishDate | 2021 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1534402023-07-04T17:01:21Z Positioning using UWB-IR and IMU Lang, Hao Law Choi Look School of Electrical and Electronic Engineering ECLLAW@ntu.edu.sg Engineering::Electrical and electronic engineering This dissertation is concentrated on how to reduce the number of UWB (Ultra wide-band Impulse Radio) anchor nodes while maintaining certain level of positioning accuracy by integration with IMU (Inertia Mesurement Unit). Meanwhile, the accumulated errors of IMU positioning introduced by integration can be calibrated using UWB measurements. Important properties of UWB-IR and IMU sensors are introduced. The positioning method and drifts calibration of IMU are discussed as well as the ranging method of UWB-IR standalone. Loose coupling and tight coupling are chosen to integrate the UWB-IR position data with IMU sensors data. Compared to the single positioning method, both of the fusion approaches can offer better accuracy. The tight coupling performs better on the NLOS conditions. The experiments and result analyses were mainly implemented on the Raspberry Pi with Python. Master of Science (Communications Engineering) 2021-12-02T06:35:09Z 2021-12-02T06:35:09Z 2021 Thesis-Master by Coursework Lang, H. (2021). Positioning using UWB-IR and IMU. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/153440 https://hdl.handle.net/10356/153440 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering Lang, Hao Positioning using UWB-IR and IMU |
| title | Positioning using UWB-IR and IMU |
| title_full | Positioning using UWB-IR and IMU |
| title_fullStr | Positioning using UWB-IR and IMU |
| title_full_unstemmed | Positioning using UWB-IR and IMU |
| title_short | Positioning using UWB-IR and IMU |
| title_sort | positioning using uwb ir and imu |
| topic | Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/153440 |
| work_keys_str_mv | AT langhao positioningusinguwbirandimu |