Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications
Abstract
:1. Introduction
2. Survey of Different Indoor Localization Technologies and UWB
2.1. Indoor Localization Systems
2.2. Ultra WideBand Systems
3. Experimental Setup and Evaluation
3.1. Experimental Setup
3.2. Method of Comparison
3.3. Calibration
3.4. Tests and Evaluation
3.4.1. Static Measurement Precision
3.4.2. Dynamic Measurement Evaluation and Precision of a Trajectory
3.4.3. Dynamic Measurement Evaluation and Precision of Mapping
3.4.4. Test Z Anchor Change
3.4.5. Study of the Influence of Anchors
4. Conclusions
Author Contributions
Funding
Conflicts of Interest
Abbreviations
AoA | Angle of Arrival |
CED | Cumulative Error Distribution |
DOP | Dilution Of Precision |
EKF | Extended Kalman Filter |
GNSS | Global Navigation Satellite System |
HMI | Human-Machine Interface |
IMU | Inertial Measurement Unit |
LOS | Line-Of-Sight |
MEMS | Micro-Electro-Mechanical Systems |
NLOS | Non-Line-Of-Sight |
RFID | Radio Frequency Identification |
RMSE | Root-Mean-Square Error |
RSSI | Received Signal Strength Indicator |
RTT | Round-Trip Time |
TDoA | Time Difference Of Arrival |
ToA | Time of Arrival |
UWB | Ultra WideBand |
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Technology | Typical Accuracy | Typical Coverage | Typical Measuring Principle |
---|---|---|---|
Cameras | 0.1 mm-dm | 1–10 | Codedmarkers |
Infrared | cm-m | 1–5 m | IR camera |
Tactile & Polar Systems | um-mm | 3–2000 m | Distance & angular measurement |
Sound | cm | 2–10 m | Multilateration |
WLAN/WIFI | m | 20–50 m | Fingerprinting |
RFID | dm-m | 1–50 m | Cell of Origin |
Ultra WideBand | cm-m | 1–50 m | ToA, TDoA |
High Sensitive GNSS | 10 m | ‘global’ | Assisted GNSS |
Pseudolites | cm-dm | 10–1000 m | carrierphaseranges |
Other Radio Frequencies | m | 10–1000 m | Fingerprinting, cell of Origin, RSSI, RTT |
Inertial Navigation | 1% | 10–100 m | WLAN RSSI, GNSS |
Magnetic Systems | mm-cm | 1–20 m | DCfield, coils , AC magnetic field |
Infrastructure Systems | cm-m | building | Powerlines, floor tiles, fluorescent lamps |
UWB Technologies | Decawave 1 | BlinkSight 2 | IIDRE 3 | BeSpoon 4 |
---|---|---|---|---|
Accuracy | X-Y 10 cm | 10 cm | 10–30 cm | 10 cm |
Detecting Range | 290 m | 200+ m | 150 m | 600 m |
Bandwith | 3.5–6.5 GHz | 7–8.5 GHz | 3.5–6.5 GHz | 3.5–4.5 GHz |
Current Consumption | 30 mA | 30 mA | Max 30 mA | 30 mA |
Interface | Spi control | wifi | Bluetooth USB RS232 | USB |
Cost (euros) | 300 (kit) | N/A | 1140 | 650 |
Static LOS Test | X-Axis | Y-Axis | Z-Axis | 2D | 3D |
---|---|---|---|---|---|
Mean error | 0.01 m | 0.01 m | 0.01 m | 0.01 m | 0.01 m |
Range | 0.09 m | 0.10 m | 0.11 m | 0.09 m | 0.10 m |
Standard deviation | 0.01 m | 0.01 m | 0.01 m | 0.01 m | 0.01 m |
Dynamic Measure | X-Axis | Y-Axis | Z-Axis | 2D | 3D |
---|---|---|---|---|---|
Mean error | 0.20 m | 0.22 m | 0.32 m | 0.21 m | 0.24 m |
Range | 0.73 m | 0.64 m | 0.87 m | 0.65 m | 0.75 m |
Standard deviation | 0.13 m | 0.14 m | 0.29 m | 0.13 m | 0.18 m |
UWB Mapping | X-Axis | Y-Axis | Z-Axis | 2D | 3D | |
---|---|---|---|---|---|---|
Inner | Mean error | 0.30 m | 0.17 m | 0.23 m | 0.23 m | 0.23 m |
Range | 1.07 m | 0.60 m | 1.37 m | 0.56 m | 1.01 m | |
Standard deviation | 0.18 m | 0.00 m | 0.20 m | 0.18 m | 0.12 m | |
Outer | Mean error | 0.23 m | 0.27 m | 0.23 m | 0.25 m | 0.24 m |
Range | 0.98 m | 1.05 m | 1.03 m | 1.01 m | 1.02 m | |
Standard deviation | 0.03 m | 0.15 m | 0.19 m | 0.09 m | 0.12 m |
Anchors Z Change | X-Axis | Y-Axis | Z-Axis | Measure 2D | Measure 3D |
---|---|---|---|---|---|
Mean error | 0.38 m | 1.37 m | 0.70 m | 0.87 m | 0.81 m |
Range | 0.78 m | 0.64 m | 1.28 m | 0.71 m | 0.90 m |
Standard deviation | 0.04 m | 0.05 m | 0.22 m | 0.04 m | 0.10 m |
Influence of Anchors | X-Axis | Y-Axis | Z-Axis | 2D | 3D | |
---|---|---|---|---|---|---|
4 anchors | Mean error | 0.20 m | 0.22 m | 0.32 m | 0.21 m | 0.24 m |
Range | 0.73 m | 0.64 m | 0.87 m | 0.65 m | 0.75 m | |
Standard deviation | 0.13 m | 0.14 m | 0.29 m | 0.13 m | 0.18 m | |
5 anchors | Mean error | 0.16 m | 0.16 m | 0.22 m | 0.16 m | 0.18 m |
Range | 0.42 m | 0.60 m | 0.66 m | 0.51 m | 0.56 m | |
Standard deviation | 0.02 m | 0.10 m | 0.22 m | 0.06 m | 0.11 m | |
6 anchors | Mean error | 0.19 m | 0.16 m | 0.27 m | 0.17 m | 0.20 m |
Range | 0.52 m | 0.54 m | 0.74 m | 0.53 m | 0.6 m | |
Standard deviation | 0.10 m | 0.01 m | 0.26 m | 0.05 m | 0.12 m |
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Delamare, M.; Boutteau, R.; Savatier, X.; Iriart, N. Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications. Sci 2020, 2, 23. https://doi.org/10.3390/sci2020023
Delamare M, Boutteau R, Savatier X, Iriart N. Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications. Sci. 2020; 2(2):23. https://doi.org/10.3390/sci2020023
Chicago/Turabian StyleDelamare, Mickaël, Remi Boutteau, Xavier Savatier, and Nicolas Iriart. 2020. "Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications" Sci 2, no. 2: 23. https://doi.org/10.3390/sci2020023