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Article

Evaluation and Comparison of Ultrasonic and UWB Technology for Indoor Localization in an Industrial Environment

1
Department for Materials and Production, Aalborg University, 9220 Aalborg, Denmark
2
Department for Electronic Systems, Aalborg University, 9220 Aalborg, Denmark
3
Department for Planning, Aalborg University, 9000 Aalborg, Denmark
*
Author to whom correspondence should be addressed.
Academic Editor: Edwin C. Kan
Sensors 2022, 22(8), 2927; https://doi.org/10.3390/s22082927
Received: 4 February 2022 / Revised: 31 March 2022 / Accepted: 8 April 2022 / Published: 11 April 2022
(This article belongs to the Topic New Frontiers in Industry 4.0)
Evaluations of different technologies and solutions for indoor localization exist but only a few are aimed at the industrial context. In this paper, we compare and analyze two prominent solutions based on Ultra Wide Band Radio (Pozyx) and Ultrasound (GoT), both installed in an industrial manufacturing laboratory. The comparison comprises a static and a dynamic case. The static case evaluates average localization errors over 90 s intervals for 100 ground-truth points at three different heights, corresponding to different relevant objects in an industrial environment: mobile robots, pallets, forklifts and worker helmets. The average error obtained across the laboratory is similar for both systems and is between 0.3 m and 0.6 m, with higher errors for low altitudes. The dynamic case is performed with a mobile robot travelling with an average speed of 0.5 m/s at a height of 0.3 m. In this case, low frequency error components are filtered out to focus the comparison on dynamic errors. Average dynamic errors are within 0.3–0.4 m for Pozyx and within 0.1–0.2 m for GoT. Results show an acceptable accuracy required for tracking people or objects and could serve as a guideline for the least achievable accuracy when applied for mobile robotics in conjunction with other elements of a robotic navigation stack. View Full-Text
Keywords: indoor localization; TDoA; radio based; ultra-sonic; industrial; mobile robots; evaluation; comparison indoor localization; TDoA; radio based; ultra-sonic; industrial; mobile robots; evaluation; comparison
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MDPI and ACS Style

Crețu-Sîrcu, A.L.; Schiøler, H.; Cederholm, J.P.; Sîrcu, I.; Schjørring, A.; Larrad, I.R.; Berardinelli, G.; Madsen, O. Evaluation and Comparison of Ultrasonic and UWB Technology for Indoor Localization in an Industrial Environment. Sensors 2022, 22, 2927. https://doi.org/10.3390/s22082927

AMA Style

Crețu-Sîrcu AL, Schiøler H, Cederholm JP, Sîrcu I, Schjørring A, Larrad IR, Berardinelli G, Madsen O. Evaluation and Comparison of Ultrasonic and UWB Technology for Indoor Localization in an Industrial Environment. Sensors. 2022; 22(8):2927. https://doi.org/10.3390/s22082927

Chicago/Turabian Style

Crețu-Sîrcu, Amalia Lelia, Henrik Schiøler, Jens Peter Cederholm, Ion Sîrcu, Allan Schjørring, Ignacio Rodriguez Larrad, Gilberto Berardinelli, and Ole Madsen. 2022. "Evaluation and Comparison of Ultrasonic and UWB Technology for Indoor Localization in an Industrial Environment" Sensors 22, no. 8: 2927. https://doi.org/10.3390/s22082927

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