International Conference on Localization and GNSS (ICL-GNSS)
Abstract
This paper follows the implementation of a proofof-concept localization system for GNSS-denied environments.
WALLSY (Wireless Ad-hoc Low-power Localization SYstem)
is a portable and modular Ultra Wide-Band (UWB) and Smart
Mesh IP (SMIP) hybrid. WALLSY uses UWB two way ranging
(TWR) to measure distances, which are then sent via the lowpower SMIP backbone network to a central hub for calculating
coordinates of tracked objects. The system is highly flexible and
requires no external infrastructure or prior knowledge of the
installation site. It uses a completely nomadic topology and
delivers high localization accuracy with all modules being
battery powered. It achieves this by using a custom time-slotting
protocol which maximizes deep-sleep mode for UWB. Battery
life can be further improved by activating inertial measurement
unit (IMU) filtering. Visualization of tracked objects and
system reconfiguration can be executed on-the-fly and are both
accessible to end users through a simple graphical user interface
(GUI). Results demonstrate that WALLSY can achieve more
than ten times longer battery lifetime compared to competing
solutions (localizing every 30 seconds). It provides 3D
coordinates with an average spatial error of 60.5cm and an
average standard deviation of 15cm. The system also provides
support for up to 20 tags