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Estimation of Orientation in a Dual-Tag Ultra Wideband Indoor Positioning System
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
2019 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this report the feasibility of using a dual-tag setup in an indoor positioning system was investigated. The reason for the dual-tag setup was to be able to estimate both position and orientation. The system was designed using UWB-technology, with an time of flight trilateration algorithm to calculate the position. The orientation was then estimated from the relative position between the two tags. The system was tested both with stationary tags, but also with the tags moving along two paths. These tests were conducted for different separation distance between the tags, namely 20 cm, 30 cm and 40 cm. The result was that the mean position error for stationary tags was less than 8 cm for all separations and the mean orientation error was less than 3$^\circ$ for all separations. For the moving tag tests a decrease of the error in orientation of about 30 \% could be observed for a separation of 30 and 40 cm compared to 20 cm. However this difference is small in absolute values so more tests are needed to draw any conclusion about whether 30 and 40 cm tag separation performs better than 20 cm tag separation. The performance of the system could also be increased further by optimizing the anchor placement as well as the calibration of the antenna delays of the UWB-modules. 

Place, publisher, year, edition, pages
2019. , p. 63
Series
UPTEC F, ISSN 1401-5757 ; 19027
Keywords [en]
UWB, Ultra Wideband, Indoor Positioning
National Category
Embedded Systems
Identifiers
URN: urn:nbn:se:uu:diva-385873OAI: oai:DiVA.org:uu-385873DiVA, id: diva2:1326213
External cooperation
Cybercom Group
Educational program
Master Programme in Engineering Physics
Presentation
2019-06-13, Å2003, Lägerhyddsvägen 1, Uppsala, 15:15 (English)
Supervisors
Examiners
Available from: 2019-06-26 Created: 2019-06-17 Last updated: 2019-06-26Bibliographically approved

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CiteExportLink to record
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