Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


Optimization-Based Localization in GPS-Denied Environments Using UWB Range Sensors


N. Jakob

Semester Thesis, HS15 (10481)

In this project a positioning system using novel ultra-wideband (UWB) technology was implemented for GPS-denied applications where accuracy, scalability, indoor/outdoor use and ease of setup is critical. Eight selfcontained UWB transceiver nodes were built using commercially available UWB range sensors. The nodes have been programmed to either participate in active two-way ranging or in a passive time-difference-ofarrival (TDoA) fashion. The two-way ranging mode allows for a complete calibration of the system with knowledge of only one node location. The TDoA implementation subsequently allows for a purely passive selflocalization of an arbitrary number of hardware nodes similar to GPS. Both localisation methods have been formulated as an optimisation problem and were implemented using the FORCES Nonlinear Programming Solver. Based on measured experimental data, we compared standard triangulation methods with the optimisation-based approaches to demonstrate the performance improvements from the overdetermined system. The optimisation problem is solved fast enough to be implemented on the nodes directly.

Supervisors: Henrik Hesse, Paul Beuchat, Alexander Domahidi, Roy Smith, John Lygeros


Type of Publication:

(13)Semester/Bachelor Thesis

R. S. Smith

File Download:

Request a copy of this publication.
(Uses JavaScript)
% Autogenerated BibTeX entry
@PhdThesis { Xxx:2016:IFA_5404
Permanent link