都市規模UWBネットワークにおける高速な位置推定と追跡
Fast Localization and Tracking in City-Scale UWB Networks
到着角(AoA)を距離測定に加えた新しい手法Locate3Dを提案し、大規模ネットワークでも高速かつ高精度にノードの位置と向きを推定できるようにした。
著者: Nakul Garg, Irtaza Shahid, Ramanujan K Sheshadri, Karthikeyan Sundaresan, Nirupam Roy
分類: cs.NI, cs.RO, cs.SY, eess.SY
原文アブストラクト
Localization of networked nodes is an essential problem in emerging applications, including first-responder navigation, automated manufacturing lines, vehicular and drone navigation, asset navigation and tracking, Internet of Things and 5G communication networks. In this paper, we present Locate3D, a novel system for peer-to-peer node localization and orientation estimation in large networks. Unlike traditional range-only methods, Locate3D introduces angle-of-arrival (AoA) data as an added network topology constraint. The system solves three key challenges: it uses angles to reduce the number of measurements required by 4x and jointly use range and angle data for location estimation. We develop a spanning-tree approach for fast location updates, and to ensure the output graphs are rigid and uniquely realizable, even in occluded or weakly connected areas. Locate3D cuts down latency by up to 75% without compromising accuracy, surpassing standard range-only solutions. It has a 10.2 meters median localization error for large-scale networks (30,000 nodes, 15 anchors spread across 14km square) and 0.5 meters for small-scale networks (10 nodes).
