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Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment

Journal Article


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Abstract


  • Cooperative positioning (CP) utilises information sharing among multiple nodes to enable

    positioning in Global Navigation Satellite System (GNSS)-denied environments. This paper reports

    the performance of a CP system for pedestrians using Ultra-Wide Band (UWB) technology in

    GNSS-denied environments. This data set was collected as part of a benchmarking measurement

    campaign carried out at the Ohio State University in October 2017. Pedestrians were equipped

    with a variety of sensors, including two different UWB systems, on a specially designed helmet

    serving as a mobile multi-sensor platform for CP. Different users were walking in stop-and-go mode

    along trajectories with predefined checkpoints and under various challenging environments. In

    the developed CP network, both Peer-to-Infrastructure (P2I) and Peer-to-Peer (P2P) measurements

    are used for positioning of the pedestrians. It is realised that the proposed system can achieve

    decimetre-level accuracies (on average, around 20 cm) in the complete absence of GNSS signals,

    provided that the measurements from infrastructure nodes are available and the network geometry

    is good. In the absence of these good conditions, the results show that the average accuracy

    degrades to meter level. Further, it is experimentally demonstrated that inclusion of P2P cooperative

    range observations further enhances the positioning accuracy and, in extreme cases when only one

    infrastructure measurement is available, P2P CP may reduce positioning errors by up to 95%. The

    complete test setup, the methodology for development, and data collection are discussed in this

    paper. In the next version of this system, additional observations such as the Wi-Fi, camera, and other

    signals of opportunity will be included.

UOW Authors


  •   Gabela, Jelena (external author)
  •   Retscher, Guenther (external author)
  •   Goel, Salil (external author)
  •   Perakis, Harris (external author)
  •   Masiero, Andrea (external author)
  •   Toth, Charles (external author)
  •   Gikas, Vassilis (external author)
  •   Kealy, Allison (external author)
  •   Koppanyi, Zoltan (external author)
  •   B┬┐aszczak-Bak, Wioleta (external author)
  •   Li, Yan (external author)
  •   Grejner-Brzezinska, Dorota (external author)

Publication Date


  • 2019

Citation


  • Gabela, J., Retscher, G., Goel, S., Perakis, H., Masiero, A., Toth, C., Gikas, V., Kealy, A., Koppanyi, Z., Blaszczak-Bak, W., Li, Y. & Grejner-Brzezinska, D. (2019). Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment. Sensors, 19 5274-1-5274-25.

Ro Full-text Url


  • https://ro.uow.edu.au/cgi/viewcontent.cgi?article=1329&context=smartpapers

Ro Metadata Url


  • http://ro.uow.edu.au/smartpapers/302

Start Page


  • 5274-1

End Page


  • 5274-25

Volume


  • 19

Place Of Publication


  • Switzerland

Abstract


  • Cooperative positioning (CP) utilises information sharing among multiple nodes to enable

    positioning in Global Navigation Satellite System (GNSS)-denied environments. This paper reports

    the performance of a CP system for pedestrians using Ultra-Wide Band (UWB) technology in

    GNSS-denied environments. This data set was collected as part of a benchmarking measurement

    campaign carried out at the Ohio State University in October 2017. Pedestrians were equipped

    with a variety of sensors, including two different UWB systems, on a specially designed helmet

    serving as a mobile multi-sensor platform for CP. Different users were walking in stop-and-go mode

    along trajectories with predefined checkpoints and under various challenging environments. In

    the developed CP network, both Peer-to-Infrastructure (P2I) and Peer-to-Peer (P2P) measurements

    are used for positioning of the pedestrians. It is realised that the proposed system can achieve

    decimetre-level accuracies (on average, around 20 cm) in the complete absence of GNSS signals,

    provided that the measurements from infrastructure nodes are available and the network geometry

    is good. In the absence of these good conditions, the results show that the average accuracy

    degrades to meter level. Further, it is experimentally demonstrated that inclusion of P2P cooperative

    range observations further enhances the positioning accuracy and, in extreme cases when only one

    infrastructure measurement is available, P2P CP may reduce positioning errors by up to 95%. The

    complete test setup, the methodology for development, and data collection are discussed in this

    paper. In the next version of this system, additional observations such as the Wi-Fi, camera, and other

    signals of opportunity will be included.

UOW Authors


  •   Gabela, Jelena (external author)
  •   Retscher, Guenther (external author)
  •   Goel, Salil (external author)
  •   Perakis, Harris (external author)
  •   Masiero, Andrea (external author)
  •   Toth, Charles (external author)
  •   Gikas, Vassilis (external author)
  •   Kealy, Allison (external author)
  •   Koppanyi, Zoltan (external author)
  •   B┬┐aszczak-Bak, Wioleta (external author)
  •   Li, Yan (external author)
  •   Grejner-Brzezinska, Dorota (external author)

Publication Date


  • 2019

Citation


  • Gabela, J., Retscher, G., Goel, S., Perakis, H., Masiero, A., Toth, C., Gikas, V., Kealy, A., Koppanyi, Z., Blaszczak-Bak, W., Li, Y. & Grejner-Brzezinska, D. (2019). Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment. Sensors, 19 5274-1-5274-25.

Ro Full-text Url


  • https://ro.uow.edu.au/cgi/viewcontent.cgi?article=1329&context=smartpapers

Ro Metadata Url


  • http://ro.uow.edu.au/smartpapers/302

Start Page


  • 5274-1

End Page


  • 5274-25

Volume


  • 19

Place Of Publication


  • Switzerland