| Title: |
Development of a Cooperative Localization System using a UWB Network and BLE Technology |
| Authors: |
Brunacci V.; De Angelis A.; Costante G. |
| Contributors: |
Brunacci, V.; De Angelis, A.; Costante, G. |
| Publisher Information: |
Institute of Electrical and Electronics Engineers Inc. |
| Publication Year: |
2022 |
| Collection: |
IRIS Università degli Studi di Perugia |
| Subject Terms: |
BLE; Cooperative Localization; Fully-Wireless Localization Network; NLSS Position Estimation; Relative Positioning; UWB Range Measurement |
| Description: |
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth Low Energy protocol to acquire data. Furthermore, a nonlinear least squares problem is formulated and solved numerically for estimating the relative positions of the nodes. The localization performance of the system is validated by experimental tests, demonstrating the capability of measuring the relative position of a network comprised of 4 nodes with an accuracy of the order of 3 cm and an update rate of 10 Hz. This shows the feasibility of applying the proposed system for multi-robot cooperative localization and formation control scenarios. |
| Document Type: |
conference object |
| Language: |
English |
| Relation: |
info:eu-repo/semantics/altIdentifier/isbn/978-1-6654-8362-9; info:eu-repo/semantics/altIdentifier/wos/WOS:000885015100018; ispartofbook:2022 IEEE International Symposium on Measurements and Networking, M and N 2022 - Proceedings; 6th IEEE International Symposium on Measurements and Networking, M and N 2022; firstpage:1; lastpage:6; numberofpages:6; https://hdl.handle.net/11391/1554700 |
| DOI: |
10.1109/MN55117.2022.9887703 |
| Availability: |
https://hdl.handle.net/11391/1554700; https://doi.org/10.1109/MN55117.2022.9887703 |
| Accession Number: |
edsbas.C1BADD80 |
| Database: |
BASE |