Algorithms for indoor localization based on IEEE 802.15.4-2011 UWB and inertial sensors

Loading...
Thumbnail Image
Files
e-thesis-tingcong ye.pdf(5.29 MB)
Full Text E-thesis
Date
2015
Authors
Ye, Tingcong
Journal Title
Journal ISSN
Volume Title
Publisher
University College Cork
Published Version
Research Projects
Organizational Units
Journal Issue
Abstract
In this thesis, extensive experiments are firstly conducted to characterize the performance of using the emerging IEEE 802.15.4-2011 ultra wideband (UWB) for indoor localization, and the results demonstrate the accuracy and precision of using time of arrival measurements for ranging applications. A multipath propagation controlling technique is synthesized which considers the relationship between transmit power, transmission range and signal-to-noise ratio. The methodology includes a novel bilateral transmitter output power control algorithm which is demonstrated to be able to stabilize the multipath channel, and enable sub 5cm instant ranging accuracy in line of sight conditions. A fully-coupled architecture is proposed for the localization system using a combination of IEEE 802.15.4-2011 UWB and inertial sensors. This architecture not only implements the position estimation of the object by fusing the UWB and inertial measurements, but enables the nodes in the localization network to mutually share positional and other useful information via the UWB channel. The hybrid system has been demonstrated to be capable of simultaneous local-positioning and remote-tracking of the mobile object. Three fusion algorithms for relative position estimation are proposed, including internal navigation system (INS), INS with UWB ranging correction, and orientation plus ranging. Experimental results show that the INS with UWB correction algorithm achieves an average position accuracy of 0.1883m, and gets 83% and 62% improvements on the accuracy of the INS (1.0994m) and the existing extended Kalman filter tracking algorithm (0.5m), respectively.
Description
Keywords
Indoor localization , Ultra wideband , Inertial sensors
Citation
Ye, T. 2015. Algorithms for indoor localization based on IEEE 802.15.4-2011 UWB and inertial sensors. PhD Thesis, University College Cork.