期刊
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
卷 62, 期 8, 页码 2228-2236出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIM.2013.2256714
关键词
Indoor ranging; noise model; particle filter; position estimation; ultrawideband (UWB)
资金
- Office of Naval Research (ONR) [N00014-07-1-1001]
Ultrawideband signals present new opportunities for indoor position tracking due to their ability to operate in non-line-of-sight conditions. However, walls and other normal indoor infrastructure cause a systemic spatial warp in the measurements. In this paper, we describe methods to manually build a map of the measurement noise and use it in a particle filter framework to improve measurement accuracy. We tested our methods in two facilities, collecting over 5.6 million measurements. Evidence shows that the measurement noise is multimodal, location dependent, stable over time, and locally similar. Using the map in a particle filter framework, we demonstrate an average improvement in measurement accuracy of 30%.
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