Year: 2024
Type: article
Abstract: Ultra Wide-Band (UWB) sensing has gained popularity in relative localization applications. Many localization solutions rely on using Time of Flight (ToF) sensing based on a beacon-tag system, which requires four or more beacons in the environment for 3D localization. A lesser researched option is using Angle of Arrival (AoA) readings obtained from UWB antenna pairs to perform relative localization. In this paper, we present a UWB platform called ReLoki that can be used for ranging and AoA-based relative localization in 3D. To enable AoA, ReLoki utilizes the geometry of antenna arrays. In this paper, we present a system design for localization estimates using a Regular Tetrahedral Array (RTA), Regular Orthogonal Array (ROA), and Uniform Square Array (USA). The use of a multi-antenna array enables fully onboard infrastructure-free relative localization between participating ReLoki modules. We also present studies demonstrating sub-50cm localization errors in indoor experiments, achieving performance close to current ToF-based systems, while offering the advantage of not relying on static infrastructure.
Source: Sensors
DOI: 10.3390/s24165407
Authors: Joseph Prince Mathew, Cameron Nowzari
Institution: George Mason University
Language: English
Subfield: Electrical and Electronic Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,955
Funders: U.S. Navy, Office of Naval Research
Awards: G2322063371, G8876996369
OpenAlex ID: W4401811027