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Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors

Batstone, Kenneth John LU ; Oskarsson, Magnus LU and Åström, Karl LU (2017) International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017
Abstract
Indoor localisation is a currently a key issue, from robotics to the Internet of Things. With hardware advancements making Ultra-Wideband devices more accurate and low powered (potentially even passive), this unlocks the potential of having such devices in common place around factories and homes, enabling an alternative method of navigation. Therefore, anchor calibration indoors becomes a key problem in order to implement these devices efficiently and effectively. In this paper, we study the possibility for sequentially gathering Ultra-Wideband Time-of-Arrival measurements and using previously studied robust solvers, merge solutions together in order to calculate anchor positions in 3D in real-time. Here it is assumed that there is no... (More)
Indoor localisation is a currently a key issue, from robotics to the Internet of Things. With hardware advancements making Ultra-Wideband devices more accurate and low powered (potentially even passive), this unlocks the potential of having such devices in common place around factories and homes, enabling an alternative method of navigation. Therefore, anchor calibration indoors becomes a key problem in order to implement these devices efficiently and effectively. In this paper, we study the possibility for sequentially gathering Ultra-Wideband Time-of-Arrival measurements and using previously studied robust solvers, merge solutions together in order to calculate anchor positions in 3D in real-time. Here it is assumed that there is no prior knowledge of the anchor positions. This is then validated using Ultra-Wideband Time-of-Arrival data gathered by a Bitcraze Crazyflie quadcopter in 2D motion, 3D motion and full flight. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017
pages
8 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017
conference location
Sapporo, Japan
conference dates
2017-09-18 - 2017-09-21
external identifiers
  • scopus:85043464160
DOI
10.1109/IPIN.2017.8115885
language
English
LU publication?
yes
id
ef871643-5910-4eeb-9f69-e78b2dbc761c
date added to LUP
2018-01-27 09:06:43
date last changed
2019-03-19 03:48:20
@inproceedings{ef871643-5910-4eeb-9f69-e78b2dbc761c,
  abstract     = {Indoor localisation is a currently a key issue, from robotics to the Internet of Things. With hardware advancements making Ultra-Wideband devices more accurate and low powered (potentially even passive), this unlocks the potential of having such devices in common place around factories and homes, enabling an alternative method of navigation. Therefore, anchor calibration indoors becomes a key problem in order to implement these devices efficiently and effectively. In this paper, we study the possibility for sequentially gathering Ultra-Wideband Time-of-Arrival measurements and using previously studied robust solvers, merge solutions together in order to calculate anchor positions in 3D in real-time. Here it is assumed that there is no prior knowledge of the anchor positions. This is then validated using Ultra-Wideband Time-of-Arrival data gathered by a Bitcraze Crazyflie quadcopter in 2D motion, 3D motion and full flight.},
  author       = {Batstone, Kenneth John and Oskarsson, Magnus and Åström, Karl},
  language     = {eng},
  location     = {Sapporo, Japan},
  pages        = {8},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors},
  url          = {http://dx.doi.org/10.1109/IPIN.2017.8115885},
  year         = {2017},
}