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An Emergency Seamless Positioning Technique Based on ad hoc UWB Networking Using Robust EKF.
Houzeng Han1, Jian Wang2, Fei Liu3
1School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, China.
Sensors (Basel, Switzerland)
|July 19, 2019
Summary
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.
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.
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