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ReLoki: A Light-Weight Relative Localization System Based on UWB Antenna Arrays.

Joseph Prince Mathew¹, Cameron Nowzari¹

¹Department Electrical and Computer Engineering, George Mason University, Fairfax, VA 22030, USA.

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|August 29, 2024

Summary

This study introduces ReLoki, a novel Ultra Wide-Band (UWB) platform for 3D relative localization using Angle of Arrival (AoA). ReLoki achieves sub-50cm accuracy without static infrastructure, rivaling Time of Flight (ToF) systems.

Keywords:

UWB ad hoc mobile beacons relative localization

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Area of Science:

Robotics and Autonomous Systems
Wireless Communication and Sensing

Background:

Ultra Wide-Band (UWB) sensing is increasingly used for relative localization.
Current UWB localization often relies on Time of Flight (ToF) with multiple beacons.
Angle of Arrival (AoA) offers an alternative but less explored UWB localization method.

Purpose of the Study:

To introduce ReLoki, a UWB platform for 3D relative localization.
To enable infrastructure-free localization using AoA with UWB antenna arrays.
To evaluate the performance of different antenna array geometries for AoA-based localization.

Main Methods:

Developed the ReLoki UWB platform incorporating multi-antenna arrays.
Designed and tested localization systems using Regular Tetrahedral Array (RTA), Regular Orthogonal Array (ROA), and Uniform Square Array (USA).
Conducted indoor experiments to assess ranging and AoA-based relative localization accuracy.

Main Results:

Demonstrated sub-50cm localization errors in indoor experimental studies.
Achieved localization performance comparable to existing ToF-based systems.
Validated the feasibility of infrastructure-free relative localization using ReLoki.

Conclusions:

ReLoki provides an effective platform for infrastructure-free 3D relative localization using UWB AoA.
AoA-based localization with ReLoki offers a competitive alternative to ToF systems.
The use of multi-antenna arrays is key to enabling onboard, infrastructure-free localization.