ePrints.FRI - University of Ljubljana, Faculty of Computer and Information Science

Trajectory estimation of a moving target from UWB ranging measurements

Žiga Zupanec (2016) Trajectory estimation of a moving target from UWB ranging measurements. MSc thesis.

Download (7Mb)


    In this master thesis we reconstruct position and movement of a blind target node in a realistic environment based on ranging measurements from a set of fixed anchor nodes. We propose a method for trajectory estimation of a moving node based on minimizing residual sum defined as the difference between a reported and the actual distance from the anchor nodes. We devised extensive and complex outdoor as well as indoor experiments with exploratory data analysis and interpretation of the results. Our findings show that the method achieves sub one metre accuracy in an outdoor environment and a slight improvement over existing point based localization system in an indoor environment.

    Item Type: Thesis (MSc thesis)
    Keywords: Ranging measurements, NLS, NLOS, UWB, blind node, localization error, mobile node, target node, velocity estimation
    Number of Pages: 80
    Language of Content: English
    Mentor / Comentors:
    Name and SurnameIDFunction
    doc. dr. Luka Šajn307Mentor
    izr. prof. dr. Fabio RicciatoComentor
    Link to COBISS: http://www.cobiss.si/scripts/cobiss?command=search&base=51012&select=(ID=1537000131)
    Institution: University of Ljubljana
    Department: Faculty of Computer and Information Science
    Item ID: 3332
    Date Deposited: 22 Apr 2016 13:08
    Last Modified: 22 Jun 2016 00:08
    URI: http://eprints.fri.uni-lj.si/id/eprint/3332

    Actions (login required)

    View Item