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Design and Study of Passive Localisation Protocols Using Commercial UWB Radios
KTH, School of Electrical Engineering (EES).
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The need of accurate positioning systems arose in modern society as systems like GPS and Base Station aided mobile user localization struggle to provide accurate enough ranging accuracy for indoor positioning. UWB devices, since they have potential for centimeter precision, are good candidates in order toperform accurate positioning in indoor scenarios.

Schedule Based Positioning has been introduced as a method that uses delayed transmissions between asynchronous anchors as per a schedule. It has been shown that under small restrictions on the schedule, a node can find its own location by listening to the messages emitted by the anchors. Such routine has been designed to work on cheap UWB sensors but as of now had not been implemented on actual hardware.

The main goal of this master thesis has been to implement such systemon commercial devices, namely the Decawave DW1000, and to design error mitigation protocols in order to compensate for hardware flaws.

This thesis’ contribution is to propose a comprehensive measurement model of real devices performing scheduled based self localization, to present the implementation work flow and particularities relative to the implementation on EVK1000. Then it presents an extension for schedule based positioning inNLOS context where low power sensors cannot communicate. In a last partan analysis of the experimental results is carried and compared to simulated data and Hybrid-Cramér Rao Bound.

Abstract [sv]

Behovet av noggranna positioneringssystem har uppkommit moderna samhället efterssom system såsom GPS och basstationsstödd lokalisering av mobilerin klarar att ge tillräckligt god noggrannhet för inomhuspositionering. Ultrabredbandig radio (UWB) är en god kandidat för inomhuspositioneringssystemeftersom det potentiellt ger en noggrannhet ned på centimeternivå.

Schemabaserad positionering är en nyligen introducerad metod som baseraspå meddelanden som sänds mellan asynkrona referensnoder enligt ett givetschema, med specifika fördröjningar.  Det har visats att en nod kan lokalisera sig själv genom att lyssna på meddelandena från referensnoderna, undervissa antaganden om sändschemat. Metoden har varit utformad för att fungerapå billiga UWB-enheter, men har fram tills nu inte implementerats på riktighårdvara.

Huvudsyftet med detta projekt har varit att implementera ett sådan sys-tem mha kommersiellt tillgängliga UWB-enheter (Decawave DW100) och attutforma protokoll som kan kompensera för hårdvarufel och -begränsningar.

Denna avhandling föreslår en utförlig mätmodel för schemabaserad positionering med riktiga enheter och presenterar de utmaningar som behövde hanterasi implementeringen på EVK1000-enheter. Dessutom presenteras en utökning avschemabaserad positionering för scenarior där kommunikationen mellan vissanoder är blockerad. Slutligen ger vi en experimentell resultatanalys och jäm-förelse med simuleringar och hybrida Cramér Rao-gränser.

Place, publisher, year, edition, pages
2016. , p. 47
Series
TRITA-EE, ISSN 1653-5146 ; 2016:199
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-199920OAI: oai:DiVA.org:kth-199920DiVA, id: diva2:1066590
Presentation
2016-12-21, SIP conference room, Osquldas väg 10, floor 3, Stockholm, 09:00 (English)
Supervisors
Examiners
Available from: 2017-01-19 Created: 2017-01-18 Last updated: 2017-01-19Bibliographically approved

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