相关论文: TDOA-TWR based positioning algorithm for UWB local…
A bidirectional Ultra-Wideband (UWB) localization scheme is one of the three widely adopted design integration processes commonly used in time-based UWB positioning systems. The key property of bidirectional UWB localization is its ability…
In this paper, a new detection algorithm is proposed for turbo coded Code Division Multiple Access (CDMA) signals in detect and forward cooperative channels. Use of user cooperation makes much improvement in the performance of CDMA systems.…
We consider the problem of localization and distance estimation between a pair of wireless nodes in a multipath propagation environment, but not the usual way of processing a channel measurement between them. We propose a novel paradigm…
In this paper, we propose a factor-graph-based cooperative positioning algorithm that uses RSS radio measurements and accounts for the directivity of the antennas. This is achieved by modeling the directivity with a parametric antenna…
With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
As commercial interest in proximity services increased, the development of various wireless localization techniques was promoted. In line with this trend, Ultra-wideband (UWB) is emerging as a promising solution that can realize proximity…
Current state-of-the-art autonomous driving vehicles mainly rely on each individual sensor system to perform perception tasks. Such a framework's reliability could be limited by occlusion or sensor failure. To address this issue, more…
We propose a linear time-difference-of-arrival (TDOA) measurement model to improve \textit{distributed} estimation performance for localized target tracking. We design distributed filters over sparse (possibly large-scale) communication…
Design of ultra-wideband antennas for in-door localization applications is a challenging task that involves development of geometry that ensures appropriate balance between the size and performance. In this work, a topologically-flexible…
Localization in indoor environments is essential to further support automation in a wide array of scenarios. Moreover, direction-of-arrival knowledge is essential to supporting high speed millimeter-wave (mmWave) links in indoor…
In this paper, we investigate ultra-wideband (UWB) localization and tracking in cluttered environments. Instead of mitigating the multipath, we exploit the specular reflections to enhance the localizability and improve the positioning…
In two-way time-of-arrival (TOA) systems, a user device (UD) obtains its position and timing information by round-trip communications to a number of anchor nodes (ANs) at known locations. Compared with the one-way TOA technique, the two-way…
Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning in environments where the Global Positioning System (GPS) service is either unavailable or has unsatisfactory performance.…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
Cooperative Localization is expected to play a crucial role in various applications in the field of Connected and Autonomous vehicles (CAVs). Future 5G wireless systems are expected to enable cost-effective Vehicle-to-Everything…
Tracking movement of mobile nodes has received significant scientific and commercial interest, but long term tracking of resource-constrained mobile nodes remains challenging due to the high energy consumption of satellite receivers.…