障害物環境におけるUWB TDOA測位のためのセンサ配置最適化
Finding the Right Place: Sensor Placement for UWB Time Difference of Arrival Localization in Cluttered Indoor Environments
障害物のある屋内環境でUWB測位精度を最大化するため、電波の幾何配置とNLOS誤差のバランスを考慮してUWBアンカー位置を最適化するアルゴリズムを提案し、実環境で従来配置より大幅な精度向上を実証した。
著者: Wenda Zhao, Abhishek Goudar, Angela P. Schoellig
分類: cs.RO
原文アブストラクト
Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization has recently emerged as a promising indoor positioning solution. However, in cluttered environments, both the UWB radio positions and the obstacle-induced non-line-of-sight (NLOS) measurement biases significantly impact the quality of the position estimate. Consequently, the placement of the UWB radios must be carefully designed to provide satisfactory localization accuracy for a region of interest. In this work, we propose a novel algorithm that optimizes the UWB radio positions for a pre-defined region of interest in the presence of obstacles. The mean-squared error (MSE) metric is used to formulate an optimization problem that balances the influence of the geometry of the radio positions and the NLOS effects. We further apply the proposed algorithm to compute a minimal number of UWB radios required for a desired localization accuracy and their corresponding positions. In a real-world cluttered environment, we show that the designed UWB radio placements provide 47% and 76% localization root-mean-squared error (RMSE) reduction in 2D and 3D experiments, respectively, when compared against trivial placements.
