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Article

UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments

Department of Mathematics and Computer Science, University of the Balearic Islands, 07122 Palma de Mallorca, Spain
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Sensors 2020, 20(19), 5613; https://doi.org/10.3390/s20195613
Received: 31 July 2020 / Revised: 23 September 2020 / Accepted: 25 September 2020 / Published: 1 October 2020
(This article belongs to the Special Issue UWB Sensors)
Ultra-Wide-Band (UWB) positioning systems are now a real option to estimate the position of generic agents (e.g., robots) within indoor/GPS-denied environments. However, these environments can comprise metallic structures or other elements which can negatively affect the signal transmission and hence the accuracy of UWB-based position estimations. Regarding this fact, this paper proposes a novel method based on point-to-sphere ICP (Iterative Closest Point) to determine the 3D position of a UWB tag. In order to improve the results in noise-prone environments, our method first selects the anchors’ subset which provides the position estimate with least uncertainty (i.e., largest agreement) in our approach. Furthermore, we propose a previous stage to filter the anchor-tag distances used as input of the ICP stage. We also consider the addition of a final step based on non-linear Kalman Filtering to improve the position estimates. Performance results for several configurations of our approach are reported in the experimental results section, including a comparison with the performance of other position-estimation algorithms based on trilateration. The experimental evaluation under laboratory conditions and inside the cargo hold of a vessel (i.e., a noise-prone scenario) proves the good performance of the ICP-based algorithm, as well as the effects induced by the prior and posterior filtering stages. View Full-Text
Keywords: UWB positioning system; point-to-sphere ICP; range filtering; ferromagnetic interference UWB positioning system; point-to-sphere ICP; range filtering; ferromagnetic interference
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MDPI and ACS Style

Bonnin-Pascual, F.; Ortiz, A. UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments. Sensors 2020, 20, 5613. https://doi.org/10.3390/s20195613

AMA Style

Bonnin-Pascual F, Ortiz A. UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments. Sensors. 2020; 20(19):5613. https://doi.org/10.3390/s20195613

Chicago/Turabian Style

Bonnin-Pascual, Francisco, and Alberto Ortiz. 2020. "UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments" Sensors 20, no. 19: 5613. https://doi.org/10.3390/s20195613

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