Debiasing of position estimations of UWB-based TDoA indoor positioning system

Paolo Grasso; Mauro Innocente

doi:10.31256/Ua2Vp3X

Debiasing of position estimations of UWB-based TDoA indoor positioning system

Paolo Grasso, Mauro Innocente

Centre for Future Transport and Cities

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

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Abstract

When localising an object in a confined environment using an indoor positioning system (IPS) based on ultra-wideband (UWB) technology and an asynchronous time difference of arrival (TDoA) algorithm, systematic errors do occur. Theoretical estimation of these errors can be very hard to make. This study introduces a novel filtering algorithm for reducing the bias of position estimations, therefore increasing their accuracy. The problem is tackled for a two-dimensional IPS by formulating a debiasing filter using statistics of real data. Generalisation to the three-dimensional case should be straightforward.

Original language	English
Title of host publication	Proceedings of the 2020 UK-RAS Conference: ‘Robots into the Real World‘
Publisher	UK-RAS Network
Pages	114-116
Number of pages	3
DOIs	https://doi.org/10.31256/Ua2Vp3X
Publication status	Published - May 2020
Event	UK-RAS Conference 2020: ‘Robots into the Real World‘ - Online, Lincoln, United Kingdom Duration: 17 Apr 2020 → 17 Apr 2020 Conference number: 3rd

Conference

Conference	UK-RAS Conference 2020
Country/Territory	United Kingdom
City	Lincoln
Period	17/04/20 → 17/04/20

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Grasso & Innocente (2020) - Debiasing of position estimations of UWB-based TDoA IPSFinal published version, 1.14 MB

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title = "Debiasing of position estimations of UWB-based TDoA indoor positioning system",

abstract = "When localising an object in a confined environment using an indoor positioning system (IPS) based on ultra-wideband (UWB) technology and an asynchronous time difference of arrival (TDoA) algorithm, systematic errors do occur. Theoretical estimation of these errors can be very hard to make. This study introduces a novel filtering algorithm for reducing the bias of position estimations, therefore increasing their accuracy. The problem is tackled for a two-dimensional IPS by formulating a debiasing filter using statistics of real data. Generalisation to the three-dimensional case should be straightforward.",

author = "Paolo Grasso and Mauro Innocente",

year = "2020",

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doi = "10.31256/Ua2Vp3X",

language = "English",

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publisher = "UK-RAS Network",

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note = "UK-RAS Conference 2020 : {\textquoteleft}Robots into the Real World{\textquoteleft} ; Conference date: 17-04-2020 Through 17-04-2020",

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T1 - Debiasing of position estimations of UWB-based TDoA indoor positioning system

AU - Grasso, Paolo

AU - Innocente, Mauro

N1 - Conference code: 3rd

PY - 2020/5

Y1 - 2020/5

N2 - When localising an object in a confined environment using an indoor positioning system (IPS) based on ultra-wideband (UWB) technology and an asynchronous time difference of arrival (TDoA) algorithm, systematic errors do occur. Theoretical estimation of these errors can be very hard to make. This study introduces a novel filtering algorithm for reducing the bias of position estimations, therefore increasing their accuracy. The problem is tackled for a two-dimensional IPS by formulating a debiasing filter using statistics of real data. Generalisation to the three-dimensional case should be straightforward.

AB - When localising an object in a confined environment using an indoor positioning system (IPS) based on ultra-wideband (UWB) technology and an asynchronous time difference of arrival (TDoA) algorithm, systematic errors do occur. Theoretical estimation of these errors can be very hard to make. This study introduces a novel filtering algorithm for reducing the bias of position estimations, therefore increasing their accuracy. The problem is tackled for a two-dimensional IPS by formulating a debiasing filter using statistics of real data. Generalisation to the three-dimensional case should be straightforward.

UR - https://www.ukras.org/publications/ras-proceedings/

UR - https://www.ukras.org/publications/ras-proceedings/UKRAS20/pp114-116

U2 - 10.31256/Ua2Vp3X

DO - 10.31256/Ua2Vp3X

M3 - Conference proceeding

SP - 114

EP - 116

BT - Proceedings of the 2020 UK-RAS Conference: ‘Robots into the Real World‘

PB - UK-RAS Network

T2 - UK-RAS Conference 2020

Y2 - 17 April 2020 through 17 April 2020

ER -

Debiasing of position estimations of UWB-based TDoA indoor positioning system

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