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.

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Abstract

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:

Language of Content:

English

Mentor / Comentors:

Name and Surname	ID	Function
doc. dr. Luka Šajn	307	Mentor
izr. prof. dr. Fabio Ricciato		Comentor

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

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