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ReLoki：一种基于超宽带天线阵列的轻量级相对定位系统。

ReLoki: A Light-Weight Relative Localization System Based on UWB Antenna Arrays.

作者信息

Prince Mathew Joseph, Nowzari Cameron

机构信息

Department Electrical and Computer Engineering, George Mason University, Fairfax, VA 22030, USA.

出版信息

Sensors (Basel). 2024 Aug 21;24(16):5407. doi: 10.3390/s24165407.

DOI:10.3390/s24165407
PMID:39205100
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11359567/
Abstract

Ultra Wide-Band (UWB) sensing has gained popularity in relative localization applications. Many localization solutions rely on using Time of Flight (ToF) sensing based on a beacon-tag system, which requires four or more beacons in the environment for 3D localization. A lesser researched option is using Angle of Arrival (AoA) readings obtained from UWB antenna pairs to perform relative localization. In this paper, we present a UWB platform called ReLoki that can be used for ranging and AoA-based relative localization in 3D. To enable AoA, ReLoki utilizes the geometry of antenna arrays. In this paper, we present a system design for localization estimates using a Regular Tetrahedral Array (RTA), Regular Orthogonal Array (ROA), and Uniform Square Array (USA). The use of a multi-antenna array enables fully onboard infrastructure-free relative localization between participating ReLoki modules. We also present studies demonstrating sub-50cm localization errors in indoor experiments, achieving performance close to current ToF-based systems, while offering the advantage of not relying on static infrastructure.

摘要

超宽带（UWB）传感在相对定位应用中越来越受欢迎。许多定位解决方案依赖于基于信标 - 标签系统的飞行时间（ToF）传感，该系统在环境中进行三维定位需要四个或更多信标。一个较少被研究的选项是使用从UWB天线对获得的到达角（AoA）读数来执行相对定位。在本文中，我们提出了一个名为ReLoki的UWB平台，它可用于三维中的测距和基于AoA的相对定位。为了实现AoA，ReLoki利用了天线阵列的几何结构。在本文中，我们提出了一种使用正四面体阵列（RTA）、正正交阵列（ROA）和均匀正方形阵列（USA）进行定位估计的系统设计。多天线阵列的使用使得参与的ReLoki模块之间能够完全在板载且无需基础设施的情况下进行相对定位。我们还展示了室内实验中定位误差小于50厘米的研究，实现了接近当前基于ToF系统的性能，同时具有不依赖静态基础设施的优势。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/e1c511c74293/sensors-24-05407-g012.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/05ff09a51992/sensors-24-05407-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/1cc19b9eba0a/sensors-24-05407-g006a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/ce3e01448639/sensors-24-05407-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/f04d6bed1b22/sensors-24-05407-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/59cbec992c99/sensors-24-05407-g009.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/662db5a5178d/sensors-24-05407-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/e1c511c74293/sensors-24-05407-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/018ee0c117d2/sensors-24-05407-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/30dca48bbd3e/sensors-24-05407-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/554f9ec32e44/sensors-24-05407-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/a1bdb3fa294c/sensors-24-05407-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/05ff09a51992/sensors-24-05407-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/1cc19b9eba0a/sensors-24-05407-g006a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/ce3e01448639/sensors-24-05407-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/f04d6bed1b22/sensors-24-05407-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/59cbec992c99/sensors-24-05407-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/d362cbdaeeed/sensors-24-05407-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/662db5a5178d/sensors-24-05407-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0856/11359567/e1c511c74293/sensors-24-05407-g012.jpg

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Improving the Accuracy of Decawave's UWB MDEK1001 Location System by Gaining Access to Multiple Ranges.通过获取多个范围来提高 Decawave 的 UWB MDEK1001 定位系统的精度。
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Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices.基于超宽带/视觉同步定位与地图构建的设备的六距离唯四自由度相对位姿估计
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