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An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKF.

Houzeng Han1, Jian Wang2, Fei Liu3

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Summary
This summary is machine-generated.

This study introduces a novel emergency positioning system using integrated Global Navigation Satellite System/Ultra-Wideband (GNSS/UWB) networks. The technique achieves high accuracy for both indoor and outdoor environments, improving positioning by over 73% compared to traditional methods.

Keywords:
Robust EKFUWBemergency positioningindoor and outdoor seamless positioning

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Area of Science:

  • Geomatics Engineering
  • Navigation Systems
  • Sensor Fusion

Background:

  • Accurate indoor and outdoor positioning remains a challenge, especially in emergency scenarios.
  • Existing systems often struggle with seamless transitions between indoor and outdoor environments.
  • Integrating Global Navigation Satellite System (GNSS) and Ultra-Wideband (UWB) offers potential for enhanced accuracy.

Purpose of the Study:

  • To propose a new emergency positioning technique using an ad hoc GNSS/UWB network.
  • To develop a unified coordinate frame for seamless indoor and outdoor positioning.
  • To enhance the accuracy and robustness of UWB indoor localization.

Main Methods:

  • Dynamic construction of a unified coordinate frame using GNSS/UWB integration.
  • A network adjustment algorithm to improve UWB network positioning accuracy.
  • Development of a robust Extended Kalman Filter (EKF) for UWB indoor localization, analyzing error transfer characteristics.

Main Results:

  • Achieved positioning accuracy of 0.35 m for UWB emergency network nodes (anchors).
  • Attained positioning accuracy of 0.38 m for tags using the improved robust EKF algorithm.
  • Demonstrated significant improvements: 20.83% over standard EKF and 73.43% over the least squares method.

Conclusions:

  • The proposed GNSS/UWB integrated system provides effective and accurate indoor/outdoor seamless positioning.
  • The robust EKF algorithm significantly enhances UWB localization accuracy and reliability.
  • The technique is validated through global tests and field experiments, proving its effectiveness for emergency applications.