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Abstract(s)
In this paper, we propose a new ultra-wideband (UWB)-based simultaneous localization and wall-mapping (SLAM) system, which adopts two-way ranging optimization on UWB anchor and tag nodes to track the target's real-time movement in an unknown area. The proposed UWB-based SLAM system captures time difference of arrival (TDoA) of the anchor nodes' signals over a line-of-sight propagation path and reflected paths. The real-time location of the UWB tag is estimated according to the real-time TDoA measurements. To minimize the estimation error resulting from background noise in the two-way ranging, a Least Squares Method is implemented to minimize the estimation error for the localization of a static target, while Kalman Filter is applied for the localization of a mobile target. An experimental testbed is built based on off-the-shelf UWB hardware. Experiments validate that a reflector, e.g., a wall, and the UWB tag can be located according to the two-way ranging measurement. The localization accuracy of the proposed SLAM system is also evaluated, where the difference between the estimated location and the ground truth trajectory is less than 15cm.
Description
Keywords
Ultra-wideband Simultaneous localization and mapping TDoA Optimization Experimental testbed