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

Author(s):

N. Jakob
Conference/Journal:

Semester Thesis, HS15 (10481)
Abstract:

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

Year:

2016
Type of Publication:

(13)Semester/Bachelor Thesis
Supervisor:

R. S. Smith

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2016:IFA_5404
}
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