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
*
Author to whom correspondence should be addressed.
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
▼
Show Figures
Figure 1
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
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 StyleBonnin-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
Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.
