How Accurate Can UWB and Dead Reckoning Positioning Systems Be? Comparison to SLAM Using the RPLidar System

Area of Science:

• Robotics and Autonomous Systems
• Sensor Fusion
• Navigation and Positioning

Background:

• Current positioning systems face limitations in accuracy and redundancy for advanced automotive applications.
• Advanced Driver Assistance Systems (ADAS) require robust and reliable localization for enhanced functionality and safety.
• Simultaneous Localization and Mapping (SLAM) and dead reckoning are established but can be improved with complementary technologies.

Purpose of the Study:

• To evaluate the integration of ultra-wideband (UWB) micro-location technology with dead reckoning and RPLidar-based SLAM.
• To enhance the quality and reliability of vehicle positioning systems.
• To explore the potential for improved ADAS functionality and safety through sensor fusion and redundant localization.

Main Methods:

• Comparison of UWB micro-location with dead reckoning against a RPLidar-based SLAM solution.
• Implementation of stationary nodes and UWB tags on vehicles for localization.
• Utilizing onboard sensor data for correction to improve UWB and dead reckoning accuracy.

Main Results:

• The proposed approach offers redundant localization, serving as a backup for onboard sensors like RPLidar and radar.
• UWB micro-location provides additional data channels for communication purposes.
• Regular application of correction data derived from onboard sensors significantly increases the accuracy of UWB and dead reckoning.

Conclusions:

• Fusing onboard sensors with UWB micro-localization presents a promising approach for safety-critical applications.
• The integrated system enhances positioning quality and ADAS functionality.
• Redundant localization achieved through this fusion is crucial for reliable operation, particularly in vehicle platooning.