Using a Map of Measurement Noise to Improve UWB Indoor Position Tracking

Autor:	Salil Banerjee, Adam Hoover, William Suski
Rok vydání:	2013
Předmět:	Engineering Accuracy and precision Noise Observational error business.industry Video tracking Position tracking Electronic engineering Electrical and Electronic Engineering business Particle filter Instrumentation
Zdroj:	IEEE Transactions on Instrumentation and Measurement. 62:2228-2236
ISSN:	1557-9662 0018-9456
DOI:	10.1109/tim.2013.2256714
Popis:	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%.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::0c61c762d75852bf55755e92f3f35d38 https://doi.org/10.1109/tim.2013.2256714 Zobrazit plný text záznamu