Journal
IEEE SENSORS JOURNAL
Volume 22, Issue 6, Pages 5223-5237Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2021.3125570
Keywords
Distance measurement; Estimation; Delays; Time measurement; Time factors; Sensors; Protocols; Ultra-wideband technology; UWB ranging; ranging protocol; two-way ranging; active-passive ranging; passive ranging
Funding
- European Union [951867, 668995]
- European Regional Development Fund
- Eliko Tehnoloogia Arenduskeskus OU
- Study IT in Estonia Grant
- Estonian Research Council [PUT-PRG424]
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This paper proposes two new active-passive two-way ranging methods, which can improve the accuracy of distance estimation and the air time efficiency by using different numbers of different types of anchors.
This paper proposes two general active-passive two-way ranging (TWR) methods: AP1-TWR and AP2-TWR. The proposed methods rely on 2 types of anchors: active-passive and passive-only. The first type actively takes part in packet exchange and listens to transmissions of other active-passive anchors, and the second type only listens. Pairing these concepts with active single-sided (SS), symmetrical double-sided (SDS), and alternative double-sided (AltDS) TWR methods provides a total of six different active-passive methods. As a result of assigning different numbers of the two anchor types, the range estimation root-mean-square-error (RMSE), or the air time efficiency, or both, can be improved. Simulation results show that AP1-TWR surpasses the performance of the best active two-way ranging method by employing 10 active-passive anchors, while AP2-TWR surpasses the same mark with only 6 active-passive anchors. Further results validate and show that, compared to AP1-TWR, the AP2-TWR gives a relative improvement of range estimation RMSE about 10 to 20% in every configuration, making AP2-TWR the overall better performing method. Without a loss in the number of available range estimates, both methods could also increase the air time efficiency by keeping the number of active-passive anchors to a minimum while increasing the amount of passive anchors.
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