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

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dc.check.embargoformatNot applicableen
dc.check.infoNo embargo requireden
dc.check.opt-outNot applicableen
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dc.contributor.advisorWalsh, Michaelen
dc.contributor.advisorO'Flynn, Brendanen
dc.contributor.authorYe, Tingcong
dc.contributor.funderHigher Education Authorityen
dc.date.accessioned2015-12-11T16:51:24Z
dc.date.available2015-12-11T16:51:24Z
dc.date.issued2015
dc.date.submitted2015
dc.description.abstractIn 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.en
dc.description.sponsorshipHigher Education Authority (Networked Embedded Systems (NEMBES))en
dc.description.statusNot peer revieweden
dc.description.versionAccepted Version
dc.format.mimetypeapplication/pdfen
dc.identifier.citationYe, T. 2015. Algorithms for indoor localization based on IEEE 802.15.4-2011 UWB and inertial sensors. PhD Thesis, University College Cork.en
dc.identifier.endpage131
dc.identifier.urihttps://hdl.handle.net/10468/2138
dc.language.isoenen
dc.publisherUniversity College Corken
dc.rights© 2015. Tingcong Ye.en
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/en
dc.subjectIndoor localizationen
dc.subjectUltra widebanden
dc.subjectInertial sensorsen
dc.thesis.opt-outfalse
dc.titleAlgorithms for indoor localization based on IEEE 802.15.4-2011 UWB and inertial sensorsen
dc.typeDoctoral thesisen
dc.type.qualificationlevelDoctoralen
dc.type.qualificationnamePHD (Engineering)en
ucc.workflow.supervisormichael.walsh@tyndall.ie
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