Real-time Adaptive UWB Positioning System Enhanced by Sensor Fusion for Multiple Targets Detection

摘要

Ultra-wideband (UWB) as a state-of-the-art Real-Time Localization System (RTLS) has shown outstanding performance in tackling difficult positioning task. However, the implementation of this technology remains a challenge as several problems such as clock synchronization and line-of-sight (LOS) problem often occurs during integration. Moreover, when this technology faced with real-time multi targets detection, this technology still does not produce a stable result. This paper addresses these two problems by introduces a sound approach to tackle clock synchronization, LOS problem, and create a stable multi positioning system. We managed to secure 8.48 cm of RMS error for NLOS condition and 7.29 cm of RMS error for LOS condition. Besides, we also enhance the system by adding sensor fusion in order to create more effective multi targets localization in real-time condition. This enhancement derives from support by map information and speed sensor as a support system. Finally, this system is tested to support a realtime application of the model cars, and it can handle the task and obtains 11.27 cm of RMS error for dynamic positioning result.