Towards an Unmanned 3D Mapping System Using UWB Positioning

摘要

The work presented in this paper is part of a Horizon 2020 project known as DigiArt, with an aim to deploy an unmanned ground vehicle (UGV) mounted with a 3D scan LiDAR to generate 3D maps of an archaeological subterranean environment. The challenges faced when using 3D scan LiDAR is the ability to localize the LiDAR device and account for motion to register sequential point cloud frames. Traditionally approaches such as GPS and vision based systems are unsuitable for the intended environment due to signal restrictions and low lighting conditions respectively. Therefore, this paper seeks to assess an alternative method in the form of ultra-wideband (UWB) positioning system known as Pozyx. Experimental results show an average distance error of 4.8 cm, 10cm, 6.5cm and 8.3 cm for clear line of sight (CLOS) and 11cm, 10cm, 13.8 cm and 24 cm for non-clear line of sight (NCLOS) when the receiver is orientated at for 90°, 60°, 30° and 0° respectively.