scholarly journals Self-Calibration for the Time Difference of Arrival Positioning

Sensors ◽  
2020 ◽  
Vol 20 (7) ◽  
pp. 2079
Author(s):  
Juri Sidorenko ◽  
Volker Schatz ◽  
Dimitri Bulatov ◽  
Norbert Scherer-Negenborn ◽  
Michael Arens ◽  
...  
Keyword(s):  
Numerical Optimization ◽  
Local Minimum ◽  
Indoor Navigation ◽  
Time Difference ◽  
Ultra Wideband ◽  
System Of Equations ◽  
Position Measurement ◽  
Time Difference Of Arrival ◽  
Self Calibration ◽  
Localization Systems

The time-difference-of-arrival (TDOA) self-calibration is an important topic for many applications, such as indoor navigation. One of the most common methods is to perform nonlinear optimization. Unfortunately, optimization often gets stuck in a local minimum. Here, we propose a method of dimension lifting by adding an additional variable into the l 2 norm of the objective function. Next to the usual numerical optimization, a partially-analytical method is suggested, which overdetermines the system of equations proportionally to the number of measurements. The effect of dimension lifting on the TDOA self-calibration is verified by experiments with synthetic and real measurements. In both cases, self-calibration is performed for two very common and often combined localization systems, the DecaWave Ultra-Wideband (UWB) and the Abatec Local Position Measurement (LPM) system. The results show that our approach significantly reduces the risk of becoming trapped in a local minimum.

Design of Ultra‐Wideband Localization System Based on Optimized Time Difference of Arrival Algorithm

2020 ◽  
Vol 15 (8) ◽  
pp. 1176-1182
Author(s):  
Li Zheng‐dong ◽  
Chen Xing‐jie ◽  
Li Xiu‐ling ◽  
Cai Juan ◽  
He Yan ◽  
...  
Keyword(s):  
Time Difference ◽  
Ultra Wideband ◽  
Time Difference Of Arrival ◽  
Localization System

scholarly journals Optimal Sensor Formation for 3D Cooperative Localization of AUVs Using Time Difference of Arrival (TDOA) Method

Sensors ◽  
2018 ◽  
Vol 18 (12) ◽  
pp. 4442 ◽  
Author(s):  
Xu Bo ◽  
Asghar Razzaqi ◽  
Xiaoyu Wang
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Information Matrix ◽  
Three Dimensional ◽  
Time Difference ◽  
Cooperative Localization ◽  
Evaluation Function ◽  
Time Difference Of Arrival ◽  
Single Target ◽  
Novel Method ◽  
Localization Systems

The cooperative localization of submerged autonomous underwater vehicles (AUVs) using the Time Difference of Arrival (TDOA) measurements of surface AUV sensors is an effective method for many applications of AUVs. Proper positioning of the sensors to maximize the observability of the AUVs is very critical for cooperative localization. In this paper, a novel method for obtaining the optimal formation of sensor AUVs has been presented for the three-dimensional (3D) cooperative localization of targets using the TDOA technique. An evaluation function for estimating the optimal formation has been derived based on Fisher Information Matrix (FIM) theory for a single target as well as multiple-target cooperative localization systems. An iterative stepping algorithm has been followed to solve the evaluation function and obtain the optimal positions of the sensors. The algorithm ensured that the computation complexity should remain limited, even when the number of sensor AUVs is increased. Various simulation examples are then presented to calculate the optimal formation for different systems/situations. The effect of the position of the reference sensor and operating depth of the target AUVs on the optimal formation of the sensors has also been studied, and conclusions are drawn. For implementation of the proposed method for more practical scenarios, a simulation example is also presented for cases when the target’s position is only known with uncertainty.

scholarly journals A real-time locating system for localization of high-speed mobile objects

2018 ◽  
Vol 14 (5) ◽  
pp. 155014771877447 ◽  
Author(s):  
Minhyuk Kim ◽  
Sekchin Chang
Keyword(s):  
Real Time ◽  
High Speed ◽  
Time Difference ◽  
Ultra Wideband ◽  
Time Difference Of Arrival ◽  
Mobile Objects ◽  
Wideband Signals ◽  
Localization Performance ◽  
Locating System ◽  
Fading Environments

This article addresses a novel real-time locating system for localization of high-speed mobile objects in fading environments. The proposed locating system exploits time difference of arrival measurements based on ultra-wideband signals. However, the ultra-wideband signals cause a frequency-selective fading due to their short time duration, which induces severe inter-symbol interference. Moreover, high-speed objects cause fast fading due to large Doppler spread. Therefore, the fading cases considerably reduce the localization performance. The presented locating system relies on a new localization approach in order to overcome the fading issues, which utilizes a modification of extended Kalman filtering. Especially, the suggested locating method works well even in the zero time difference of arrival case, which occurs due to a very deep fading. Experiment results verify that the proposed real-time locating system gives excellent localization performance in severe fading environments. The results also exhibit that the presented locating system is superior to the conventional locating systems in the localization of high-speed mobile objects under fading environments.

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