Person Tracking in Ultra-Wide Band Hybrid Localization System Using Reduced Number of Reference Nodes
In this article a novel method of positional data integration in an indoor hybrid localization system combining inertial navigation with radio distance measurements is presented. A point of interest is the situation when the positional data and the radio distance measurements are obtained from less...
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doaj-168e9b75f39e42ba9b97c68c40e39e9a2020-11-25T03:49:28ZengMDPI AGSensors1424-82202020-04-01201984198410.3390/s20071984Person Tracking in Ultra-Wide Band Hybrid Localization System Using Reduced Number of Reference NodesPiotr Rajchowski0Jacek Stefanski1Jaroslaw Sadowski2Krzysztof K. Cwalina3Faculty of Electronics, Telecommunication and Informatics, Gdansk University of Technology, 80233 Gdansk, PolandFaculty of Electronics, Telecommunication and Informatics, Gdansk University of Technology, 80233 Gdansk, PolandFaculty of Electronics, Telecommunication and Informatics, Gdansk University of Technology, 80233 Gdansk, PolandFaculty of Electronics, Telecommunication and Informatics, Gdansk University of Technology, 80233 Gdansk, PolandIn this article a novel method of positional data integration in an indoor hybrid localization system combining inertial navigation with radio distance measurements is presented. A point of interest is the situation when the positional data and the radio distance measurements are obtained from less than thee reference nodes and it is impossible to unambiguously localize the moving person due to undetermined set of positional equations. The presented method allows to continuously provide localization service even in areas with disturbed propagation of the radio signals. Authors performed simulation and measurement studies of the proposed method to verify the precision of position estimation of a moving person in an indoor environment. It is worth noting that to determine the simulation parameters and realize the experimental studies the hybrid localization system demonstrator was developed, combining inertial navigation and radio distance measurements. In the proposed solution, results of distance measurements taken to less than three reference nodes are used to compensate the drift of the position estimated using the inertial sensor. In the obtained simulation and experimental results it was possible to reduce the localization error by nearly 50% regarding the case when only inertial navigation was used, additionally keeping the long term root mean square error at the level of ca. 0.50 m. That gives a degradation of localization precision below 0.1 m with respect to the fusion Kalman filtration when four reference nodes are present.https://www.mdpi.com/1424-8220/20/7/1984hybrid localization systemKalman filterperson trackingultra-wide bandinertial navigation |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Piotr Rajchowski Jacek Stefanski Jaroslaw Sadowski Krzysztof K. Cwalina |
spellingShingle |
Piotr Rajchowski Jacek Stefanski Jaroslaw Sadowski Krzysztof K. Cwalina Person Tracking in Ultra-Wide Band Hybrid Localization System Using Reduced Number of Reference Nodes Sensors hybrid localization system Kalman filter person tracking ultra-wide band inertial navigation |
author_facet |
Piotr Rajchowski Jacek Stefanski Jaroslaw Sadowski Krzysztof K. Cwalina |
author_sort |
Piotr Rajchowski |
title |
Person Tracking in Ultra-Wide Band Hybrid Localization System Using Reduced Number of Reference Nodes |
title_short |
Person Tracking in Ultra-Wide Band Hybrid Localization System Using Reduced Number of Reference Nodes |
title_full |
Person Tracking in Ultra-Wide Band Hybrid Localization System Using Reduced Number of Reference Nodes |
title_fullStr |
Person Tracking in Ultra-Wide Band Hybrid Localization System Using Reduced Number of Reference Nodes |
title_full_unstemmed |
Person Tracking in Ultra-Wide Band Hybrid Localization System Using Reduced Number of Reference Nodes |
title_sort |
person tracking in ultra-wide band hybrid localization system using reduced number of reference nodes |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2020-04-01 |
description |
In this article a novel method of positional data integration in an indoor hybrid localization system combining inertial navigation with radio distance measurements is presented. A point of interest is the situation when the positional data and the radio distance measurements are obtained from less than thee reference nodes and it is impossible to unambiguously localize the moving person due to undetermined set of positional equations. The presented method allows to continuously provide localization service even in areas with disturbed propagation of the radio signals. Authors performed simulation and measurement studies of the proposed method to verify the precision of position estimation of a moving person in an indoor environment. It is worth noting that to determine the simulation parameters and realize the experimental studies the hybrid localization system demonstrator was developed, combining inertial navigation and radio distance measurements. In the proposed solution, results of distance measurements taken to less than three reference nodes are used to compensate the drift of the position estimated using the inertial sensor. In the obtained simulation and experimental results it was possible to reduce the localization error by nearly 50% regarding the case when only inertial navigation was used, additionally keeping the long term root mean square error at the level of ca. 0.50 m. That gives a degradation of localization precision below 0.1 m with respect to the fusion Kalman filtration when four reference nodes are present. |
topic |
hybrid localization system Kalman filter person tracking ultra-wide band inertial navigation |
url |
https://www.mdpi.com/1424-8220/20/7/1984 |
work_keys_str_mv |
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