ASSESSMENT OF CAR COLLABORATIVE POSITIONING WITH UWB AND VISION

Abstract. During the last decades the role of positioning and navigation systems is drastically changed in the everyday life of common people, influencing people behavior even multiple times each day. One of the most common applications of this kind of systems is that of terrestrial vehicle navigation: the use of GPS in the automotive navigation sector started thirty years ago, and, nowadays, it commonly assists drivers in reaching most of their non-standard destinations. Despite the popularity of global navigation satellite systems (GNSS), their usability is quite limited in certain working conditions, such as in urban canyons, in tunnels and indoors. While the latter case is typically not particularly interesting for the automotive sector, the first two scenarios represent important cases of interest for automotive navigation. In addition to the market request for increasing the usability of navigation systems on consumer devices, the recent increasing eagerness for autonomous driving is also attracting a lot of researchers' attention on the development of alternative positioning systems, able to compensate for the unavailability or unreliability of GNSS. In accordance with the motivations mentioned above, this paper focuses on the development of a positioning system based on collaborative positioning between vehicles with UltraWide-Band devices and vision. To be more specific, this work focuses on assessing the performance of the developed system in successfully accomplishing three tasks, associated to different levels of gathered information: 1) assessing distance between vehicles, 2) determining the vehicle relative positions, 3) estimating the absolute car positions. The obtained results show that a) UWB can be reliably used (error of few decimeters error) to assess distances when vehicles are relatively close to each other (e.g. less than 40 m), b) the combination of UWB and vision allows to obtain good results in the computation of relative positions between vehicles, c) UWB-based collaborative positioning can be used for determining the absolute vehicle positions if a sufficient number of UWB range measurements can be ensured (sub-meter error for vehicles connected with a static UWB infrastructure, whereas error at meter level for those exploiting only vehicle-to-vehicle UWB communications)

Robust Positioning Performance in Indoor Environments

Increasingly, safety and liability critical applications require GNSS-like positioning metrics in environments where GNSS cannot work. Indoor navigation for the vision impaired and other mobility restricted individuals, emergency responders and asset tracking in buildings demand levels of positioning accuracy and integrity that cannot be satisfied by current indoor positioning technologies and techniques. This paper presents the challenges facing positioning technologies for indoor positioning and presents innovative algorithms and approaches that aim to enhance performance in these difficult environments. The overall aim is to achieve GNSS-like performance in terms of autonomous, global, infrastructure free, portable and cost efficient. Preliminary results from a real-world experimental campaign conducted as part of the joint FIG Working Group 5.5 and IAG Sub-commission 4.1 on multi-sensor systems, demonstrate performance improvements based on differential Wi-Fi (DWi-Fi) and cooperative positioning techniques. The techniques, experimental schema and initial results will be fully documented in this paper

Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment

Cooperative positioning (CP) utilises information sharing among multiple nodes to enable positioning in Global Navigation Satellite System (GNSS)-denied environments. This paper reports the performance of a CP system for pedestrians using Ultra-Wide Band (UWB) technology in GNSS-denied environments. This data set was collected as part of a benchmarking measurement campaign carried out at the Ohio State University in October 2017. Pedestrians were equipped with a variety of sensors, including two different UWB systems, on a specially designed helmet serving as a mobile multi-sensor platform for CP. Different users were walking in stop-and-go mode along trajectories with predefined checkpoints and under various challenging environments. In the developed CP network, both Peer-to-Infrastructure (P2I) and Peer-to-Peer (P2P) measurements are used for positioning of the pedestrians. It is realised that the proposed system can achieve decimetre-level accuracies (on average, around 20 cm) in the complete absence of GNSS signals, provided that the measurements from infrastructure nodes are available and the network geometry is good. In the absence of these good conditions, the results show that the average accuracy degrades to meter level. Further, it is experimentally demonstrated that inclusion of P2P cooperative range observations further enhances the positioning accuracy and, in extreme cases when only one infrastructure measurement is available, P2P CP may reduce positioning errors by up to 95%. The complete test setup, the methodology for development, and data collection are discussed in this paper. In the next version of this system, additional observations such as the Wi-Fi, camera, and other signals of opportunity will be included

A Benchmarking Measurement Campaign to Support Ubiquitous Localization in GNSS Denied and Indoor Environments

n/

PBeL—A Novel Problem-Based (e-)Learning for Geomatics Students

Due to the COVID-19 pandemic, distance learning had to be increasingly implemented at universities, and more e-learning formats had to be applied. The LBS2ITS project carried out under the lead of the Department of Geodesy and Geoinformation at TU Wien (TUW), Austria, came at the right time for these tasks. Education in Location-Based Services (LBS) is put to a new level including interactive e-learning and Problem-Based Learning (PBL) pedagogy. In the courses modernization, special attention is paid to the development and/or update of the courses to be implemented with these two pedagogic forms. Thus, teaching with an emphasis on learning outcomes is a central theme in the LBS2ITS project. To achieve this goal, the active verbs used in updated Bloom’s taxonomy for teaching on learning outcomes, i.e., remembering, understanding, applying, analyzing, evaluating, and creating, are applied to achieve the six levels of thinking and the active nature of learning. LBS2ITS will build a fully immersive and integrated LBS teaching and learning experience with the LBS application of Intelligent Transportation Systems (ITS) in mind. The outcome will be an innovative digital learning environment supporting synthetic and real-world PBL learning experiences. In the course of the project, a workshop for introduction of these new developments was held. This paper provides an insight into the results and experiences from this workshop. As e-learning and PBL must be combined and integrated nowadays, the new term PBeL (Problem-Based e-Learning) is proposed and introduced in this paper. The development of this approach and background information on the theory and the LBS2ITS project are presented

PBeL—A Novel Problem-Based (e-)Learning for Geomatics Students

Due to the COVID-19 pandemic, distance learning had to be increasingly implemented at universities, and more e-learning formats had to be applied. The LBS2ITS project carried out under the lead of the Department of Geodesy and Geoinformation at TU Wien (TUW), Austria, came at the right time for these tasks. Education in Location-Based Services (LBS) is put to a new level including interactive e-learning and Problem-Based Learning (PBL) pedagogy. In the courses modernization, special attention is paid to the development and/or update of the courses to be implemented with these two pedagogic forms. Thus, teaching with an emphasis on learning outcomes is a central theme in the LBS2ITS project. To achieve this goal, the active verbs used in updated Bloom’s taxonomy for teaching on learning outcomes, i.e., remembering, understanding, applying, analyzing, evaluating, and creating, are applied to achieve the six levels of thinking and the active nature of learning. LBS2ITS will build a fully immersive and integrated LBS teaching and learning experience with the LBS application of Intelligent Transportation Systems (ITS) in mind. The outcome will be an innovative digital learning environment supporting synthetic and real-world PBL learning experiences. In the course of the project, a workshop for introduction of these new developments was held. This paper provides an insight into the results and experiences from this workshop. As e-learning and PBL must be combined and integrated nowadays, the new term PBeL (Problem-Based e-Learning) is proposed and introduced in this paper. The development of this approach and background information on the theory and the LBS2ITS project are presented

Robust Positioning Performance in Indoor Environments

Increasingly, safety and liability critical applications require GNSS-like positioning metrics in environments where GNSS cannot work. Indoor navigation for the vision impaired and other mobility restricted individuals, emergency responders and asset tracking in buildings demand levels of positioning accuracy and integrity that cannot be satisfied by current indoor positioning technologies and techniques. This paper presents the challenges facing positioning technologies for indoor positioning and presents innovative algorithms and approaches that aim to enhance performance in these difficult environments. The overall aim is to achieve GNSS-like performance in terms of autonomous, global, infrastructure free, portable and cost efficient. Preliminary results from a real-world experimental campaign conducted as part of the joint FIG Working Group 5.5 and IAG Sub-commission 4.1 on multi-sensor systems, demonstrate performance improvements based on differential Wi-Fi (DWi-Fi) and cooperative positioning techniques. The techniques, experimental schema and initial results will be fully documented in this paper

Dual-frequency GNSS/Wi-Fi Smartphone Navigation

Published in “Proceedings of the 16th International Conference on Location Based Services (LBS 2021)”, edited by Anahid Basiri, Georg Gartner and Haosheng Huang, LBS 2021, 24-25 November 2021, Glasgow, UK/online.More and more sensors and receivers are found nowadays in modern smartphones which can enable and improve positioning for Location- based Services and other navigation applications. They include multiconstellation GNSS (Global Navigation Satellite Systems) receivers and other sensors which can be employed for positioning. The state-of-the-art thereby is that dual frequency GNSS capable receivers in smartphones are now recently on the market. With these receivers not only the current 3D positions but also the raw data of the measurements can be utilized leading to higher positioning accuracies. New algorithms need to be developed to make use of the measured GNSS raw data to be able to achieve required positioning accuracies. Therefore, the goal of our research concept is to develop a methodology based on dual frequency GNSS/Wi-Fi smartphone (L1/L5 carrier phases and 2.4/5 GHz frequency bands) for supporting seamless out/indoor navigation. A methodology for processing the measurement results based on fusion of these techniques, its significance and the expected findings are presented in the paper.8287

From project-based to problem-based learning in engineering disciplines: enhancing Cartography and Geomatics education

[EN] Engineering disciplines such as Cartography, Geomatics and Geodesy depend heavily on practical courses and “hands-on” education, both demand a strong “active” component of students and opportunities of systematic interaction loops between teachers and students. In this paper we discuss the enhancement of such classes through switching from a rather project-based learning focus on a problem-based learning mode. Experiences from several classes in this context, especially in the domain of Location-based Services, Cartography and Geomatics, are discussed and reasoning for further development of such a problem-based learning environment is given. The aim of “activating” students can be reached therefore.Gartner, G.; Binn, A.; Retscher, G.; Gabela, J.; Gikas, V.; Schmidt, M.; Wang, W. (2022). From project-based to problem-based learning in engineering disciplines: enhancing Cartography and Geomatics education. En 8th International Conference on Higher Education Advances (HEAd'22). Editorial Universitat Politècnica de València. 423-430. https://doi.org/10.4995/HEAd22.2022.1447342343

Indoor navigation and mapping: Performance analysis of UWB-based platform positioning

© 2020 International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives. The increasing demand for reliable indoor navigation systems is leading the research community to investigate various approaches to obtain effective solutions usable with mobile devices. Among the recently proposed strategies, Ultra-Wide Band (UWB) positioning systems are worth to be mentioned because of their good performance in a wide range of operating conditions. However, such performance can be significantly degraded by large UWB range errors; mostly, due to non-line-of-sight (NLOS) measurements. This paper considers the integration of UWB with vision to support navigation and mapping applications. In particular, this work compares positioning results obtained with a simultaneous localization and mapping (SLAM) algorithm, exploiting a standard and a Time-of-Flight (ToF) camera, with those obtained with UWB, and then with the integration of UWB and vision. For the latter, a deep learning-based recognition approach was developed to detect UWB devices in camera frames. Such information is both introduced in the navigation algorithm and used to detect NLOS UWB measurements. The integration of this information allowed a 20% positioning error reduction in this case study