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Errors in Global Positioning System01:26

Errors in Global Positioning System

46
Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
46
Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device01:30

Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device

35
Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
35
Types of Global Positioning System Surveys01:30

Types of Global Positioning System Surveys

58
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
58

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Related Experiment Video

Updated: Jul 6, 2025

Using a Real-Time Locating System to Measure Walking Activity Associated with Wandering Behaviors Among Institutionalized Older Adults
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Using a Real-Time Locating System to Measure Walking Activity Associated with Wandering Behaviors Among Institutionalized Older Adults

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Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization.

Sahar Salimpour1, Paola Torrico Morón1, Xianjia Yu1

  • 1Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Turku, Finland.

Frontiers in Robotics and AI
|January 10, 2024
PubMed
Summary

This study enhances ultra-wideband (UWB) localization for multi-robot systems by detecting and removing ranging anomalies. This improves the resilience of cooperative localization without significant computational cost.

Keywords:
UWB positioninganomaly detectionmulti-robot localizationmulti-robot systemsrelative localizationultra-wideband (UWB) localization

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Area of Science:

  • Robotics
  • Localization and Navigation

Background:

  • Ultra-wideband (UWB) localization offers cost-effective and accurate positioning in Global Navigation Satellite System (GNSS)-denied environments.
  • Existing research on UWB resilience primarily focuses on non-line-of-sight and multipath detection, with limited attention to multi-node relative localization disturbances.

Purpose of the Study:

  • To develop an approach for detecting range anomalies in UWB ranging measurements within multi-robot cooperative localization systems.
  • To enhance the resilience of relative localization in multi-robot systems against ranging disturbances.

Main Methods:

  • Exploiting redundancy in relative localization by calculating each node's position using different data subsets.
  • Identifying and eliminating the influence of nodes exhibiting ranging anomalies within the cooperative localization framework.

Main Results:

  • The proposed method effectively identifies nodes with ranging anomalies, such as those caused by timing errors or hardware malfunctions.
  • The approach leads to a more resilient cooperative localization framework.

Conclusions:

  • The developed method enhances the robustness of UWB-based cooperative localization in multi-robot systems.
  • The anomaly detection technique is generic and can be extended to various types of ranging disturbances with negligible computational overhead.