1,514 research outputs found
Graph Optimization Approach to Range-based Localization
In this paper, we propose a general graph optimization based framework for
localization, which can accommodate different types of measurements with
varying measurement time intervals. Special emphasis will be on range-based
localization. Range and trajectory smoothness constraints are constructed in a
position graph, then the robot trajectory over a sliding window is estimated by
a graph based optimization algorithm. Moreover, convergence analysis of the
algorithm is provided, and the effects of the number of iterations and window
size in the optimization on the localization accuracy are analyzed. Extensive
experiments on quadcopter under a variety of scenarios verify the effectiveness
of the proposed algorithm and demonstrate a much higher localization accuracy
than the existing range-based localization methods, especially in the altitude
direction
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
UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset
Small unmanned aerial vehicles (UAV) have penetrated multiple domains over
the past years. In GNSS-denied or indoor environments, aerial robots require a
robust and stable localization system, often with external feedback, in order
to fly safely. Motion capture systems are typically utilized indoors when
accurate localization is needed. However, these systems are expensive and most
require a fixed setup. Recently, visual-inertial odometry and similar methods
have advanced to a point where autonomous UAVs can rely on them for
localization. The main limitation in this case comes from the environment, as
well as in long-term autonomy due to accumulating error if loop closure cannot
be performed efficiently. For instance, the impact of low visibility due to
dust or smoke in post-disaster scenarios might render the odometry methods
inapplicable. In this paper, we study and characterize an ultra-wideband (UWB)
system for navigation and localization of aerial robots indoors based on
Decawave's DWM1001 UWB node. The system is portable, inexpensive and can be
battery powered in its totality. We show the viability of this system for
autonomous flight of UAVs, and provide open-source methods and data that enable
its widespread application even with movable anchor systems. We characterize
the accuracy based on the position of the UAV with respect to the anchors, its
altitude and speed, and the distribution of the anchors in space. Finally, we
analyze the accuracy of the self-calibration of the anchors' positions.Comment: Accepted to the 2020 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS 2020
VIR-SLAM: Visual, Inertial, and Ranging SLAM for single and multi-robot systems
Monocular cameras coupled with inertial measurements generally give high
performance visual inertial odometry. However, drift can be significant with
long trajectories, especially when the environment is visually challenging. In
this paper, we propose a system that leverages ultra-wideband ranging with one
static anchor placed in the environment to correct the accumulated error
whenever the anchor is visible. We also use this setup for collaborative SLAM:
different robots use mutual ranging (when available) and the common anchor to
estimate the transformation between each other, facilitating map fusion Our
system consists of two modules: a double layer ranging, visual, and inertial
odometry for single robots, and a transformation estimation module for
collaborative SLAM. We test our system on public datasets by simulating an
ultra-wideband sensor as well as on real robots. Experiments show our method
can outperform state-of-the-art visual-inertial odometry by more than 20%. For
visually challenging environments, our method works even the visual-inertial
odometry has significant drift Furthermore, we can compute the collaborative
SLAM transformation matrix at almost no extra computation cost
220302
In this paper, we propose a new ultra-wideband (UWB)-based simultaneous localization and wall-mapping (SLAM) system, which adopts two-way ranging optimization on UWB anchor and tag nodes to track the target's real-time movement in an unknown area. The proposed UWB-based SLAM system captures time difference of arrival (TDoA) of the anchor nodes' signals over a line-of-sight propagation path and reflected paths. The real-time location of the UWB tag is estimated according to the real-time TDoA measurements. To minimize the estimation error resulting from background noise in the two-way ranging, a Least Squares Method is implemented to minimize the estimation error for the localization of a static target, while Kalman Filter is applied for the localization of a mobile target. An experimental testbed is built based on off-the-shelf UWB hardware. Experiments validate that a reflector, e.g., a wall, and the UWB tag can be located according to the two-way ranging measurement. The localization accuracy of the proposed SLAM system is also evaluated, where the difference between the estimated location and the ground truth trajectory is less than 15cm.This work was partially supported by National Funds
through FCT/MCTES (Portuguese Foundation for Science and Technology), within the CISTER Research Unit
(UIDP/UIDB/04234/2020); also by the Operational Competitiveness Programme and Internationalization (COMPETE 2020) under the PT2020 Partnership Agreement, through the European Regional Development Fund
(ERDF), and by national funds through the FCT, within
project ARNET (POCI-01-0145-FEDER-029074).N/
Terahertz Communications and Sensing for 6G and Beyond: A Comprehensive View
The next-generation wireless technologies, commonly referred to as the sixth
generation (6G), are envisioned to support extreme communications capacity and
in particular disruption in the network sensing capabilities. The terahertz
(THz) band is one potential enabler for those due to the enormous unused
frequency bands and the high spatial resolution enabled by both short
wavelengths and bandwidths. Different from earlier surveys, this paper presents
a comprehensive treatment and technology survey on THz communications and
sensing in terms of the advantages, applications, propagation characterization,
channel modeling, measurement campaigns, antennas, transceiver devices,
beamforming, networking, the integration of communications and sensing, and
experimental testbeds. Starting from the motivation and use cases, we survey
the development and historical perspective of THz communications and sensing
with the anticipated 6G requirements. We explore the radio propagation, channel
modeling, and measurements for THz band. The transceiver requirements,
architectures, technological challenges, and approaches together with means to
compensate for the high propagation losses by appropriate antenna and
beamforming solutions. We survey also several system technologies required by
or beneficial for THz systems. The synergistic design of sensing and
communications is explored with depth. Practical trials, demonstrations, and
experiments are also summarized. The paper gives a holistic view of the current
state of the art and highlights the issues and challenges that are open for
further research towards 6G.Comment: 55 pages, 10 figures, 8 tables, submitted to IEEE Communications
Surveys & Tutorial
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