An Efficient Single-Anchor Localization Method Using Ultra-Wide Bandwidth Systems
An Efficient Single-Anchor Localization Method Using Ultra-Wide Bandwidth Systems
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DOI：
10.3390/app10010057
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发表时间：
2019-12
期刊：
影响因子：
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通讯作者：
Tianyu Wang;Hanying Zhao;Yuan Shen
中科院分区：
文献类型：
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作者：
Tianyu Wang;Hanying Zhao;Yuan Shen
超宽带技术具有时间分辨率高、稳定性好等优点，在高精度定位和跟踪中得到了广泛的应用。然而，大多数超宽带定位系统需要多个锚点进行三边测量，这导致系统成本高，消息开销大，并且信息提取不足。在本文中，我们提出了一个单锚定位（SAL）的方法，实现高精度的多智能体定位与高效率。在所提出的方法中，锚广播的前两个消息，然后每个代理响应一个消息的锚（准）同时。基于接收到的具有叠加的代理响应的消息，可以一起提取从所有代理到锚的飞行时间和到达角度信息。我们实现了定位系统在两个室内环境中，并表明，所提出的方法可以实现分米级的精度为多个代理使用三个消息。我们的方法提供了高精度和高效率的多智能体定位系统的设计准则。
Ultra-wideband technology has the merits of high temporal resolution and stability, and it has been widely used for high-accuracy localization and tracking. However, most ultra-wideband localization systems need multiple anchors for trilateration, which results in high system cost, large messages overhead, and insufficient extraction of information. In this paper, we propose a single-anchor localization (SAL) mehtod that achieves high-accuracy multi-agent localization with high efficiency. In the proposed method, the anchor broadcasts the first two messages and then each agent responds one message to the anchor (quasi-)simultaneously. Based on the received message with superpositioned agent responses, the time-of-flight and angle-of-arrival information from all agents to the anchor can be extracted altogether. We implement the localization system in two indoor environments, and show that the proposed method can achieve decimeter-level accuracy for multiple agents using three messages. Our method provides design guidelines for high-accuracy and high-efficiency multi-agent localization systems.