Accurate position tracking with a single UWB anchor

Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and commercial applications. Ultra-wideband (UWB) technology provides another venue to accurately locate devices both indoors and outdoors. In this paper, we study a localization solution with a single UWB anchor, instead of the traditional multi-anchor setup. Besides the challenge of a single UWB ranging source, the only other sensor we require is a low-cost 9 DoF inertial measurement unit (IMU). Under such a configuration, we propose continuous monitoring of UWB range changes to estimate the robot speed when moving on a line. Combining speed estimation with orientation estimation from the IMU sensor, the system becomes temporally observable. We use an Extended Kalman Filter (EKF) to estimate the pose of a robot. With our solution, we can effectively correct the accumulated error and maintain accurate tracking of a moving robot.Comment: Accepted by ICRA202

A Study of Environment Noise in Ultra-Wideband Indoor Position Tracking

This work is motivated by the problem of improving the accuracy of indoor ultra-wideband (UWB) position tracking through the study of the environment noise that affects such a system. Current systems can provide accuracy in the range of 30-100 cm in a small building, suitable for applications that require rough room-level precision such as asset tracking and surveillance. Our long-term goal is to improve the accuracy to 1 cm or better, expanding potential applications to telepresence, augmented reality, training and entertainment. This work investigates the possibility of systematically observing the measurement noise of an UWB position tracking system and building a map of it throughout a facility. In order to understand the effect of environment noise on UWB indoor positioning and in turn filter out the effects of this noise, it is important to have an idea of what this measurement noise looks like in a real world scenario. In this work, an understanding of the measurement noise is gained by taking many measurements using a commercially-available UWB positioning system installed in a real world scenario and analyzing these measurements in various ways. To the author\u27s knowledge, no one has used such an exhaustive approach to analyze measurement noise in UWB indoor positioning. The results of this work show that the measurement noise that affects a UWB indoor position tracking system can be effectively modeled using a weighted sum of Gaussians, is stable over time and is locally similar. Furthermore, a particle filter augmented with a measurement noise map is proposed to improve position tracking accuracy. Finally, a metric is proposed that can be used to quantify expected system performance based on sensor location, sensor orientation and facility floorplan. Using this metric, a procedure is developed to determine the parameters, i.e. sensor position, sensor orientation and potentially others, of the physical installation of the UWB tracking system that will produce minimum measurement error based on sensor geometry and physical facility constraints

Map matching by using inertial sensors: literature review

This literature review aims to clarify what is known about map matching by using inertial sensors and what are the requirements for map matching, inertial sensors, placement and possible complementary position technology. The target is to develop a wearable location system that can position itself within a complex construction environment automatically with the aid of an accurate building model. The wearable location system should work on a tablet computer which is running an augmented reality (AR) solution and is capable of track and visualize 3D-CAD models in real environment. The wearable location system is needed to support the system in initialization of the accurate camera pose calculation and automatically finding the right location in the 3D-CAD model. One type of sensor which does seem applicable to people tracking is inertial measurement unit (IMU). The IMU sensors in aerospace applications, based on laser based gyroscopes, are big but provide a very accurate position estimation with a limited drift. Small and light units such as those based on Micro-Electro-Mechanical (MEMS) sensors are becoming very popular, but they have a significant bias and therefore suffer from large drifts and require method for calibration like map matching. The system requires very little fixed infrastructure, the monetary cost is proportional to the number of users, rather than to the coverage area as is the case for traditional absolute indoor location systems.Siirretty Doriast

Digitalization of Building Site Management in the Construction Industry

 With Industry 4.0, a digital transformation has started in the construction industry. However, 4.0 technologies have difficulties in the integration of digital systems due to the diversity and complexity of the processes in the construction industry. Multidisciplinary work in architectural projects and the need for high productivity require digital renovation planning in the construction industry. The application of the technologies that emerged because of digital transformation on the building site has revealed the concept of the smart building site. Within the framework of many current issues such as the smart building site, the digital transformation on the building sites needs to be explored and defined. In this study, a bibliometric analysis was carried out on the publications in this field by evaluating the transformation potentials of the digitalized building sites of the future. Academic publications that will raise awareness in the improvement of building site management and the development of digital systems have been determined. Conceptual integrity was created by seeing the research gap for digitalization in building site management and it was aimed to guide researchers in future studies. As a result, based on the research area analysis and the diversity of academic publications, it was seen that the studies in the field of architecture were insufficient compared to the engineering fields