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    System-Level Algorithm Design for Radionavigation using UWB Waveforms

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    Author
    Iltis, Ronald A.
    Affiliation
    University of California, Santa Barbara
    Issue Date
    2012-10
    Keywords
    Radiolocation
    nonlinear programming
    Kalman filtering
    navigation
    
    Metadata
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    Rights
    Copyright © held by the author; distribution rights International Foundation for Telemetering
    Collection Information
    Proceedings from the International Telemetering Conference are made available by the International Foundation for Telemetering and the University of Arizona Libraries. Visit http://www.telemetry.org/index.php/contact-us if you have questions about items in this collection.
    Publisher
    International Foundation for Telemetering
    Journal
    International Telemetering Conference Proceedings
    Abstract
    A radiolocation/navigation system is considered in which mobile nodes use ultra-wideband (UWB) radios to obtain inter-node ranges via round-trip travel time (RTT). Each node is also assumed to contain an inertial measurement unit (IMU) which generates 2D position estimates subject to Gaussian drift and additive noise errors. The key problem in such a system is obtaining 2 or 3-D position estimates from the nonlinear UWB range measurements and fusing the resulting UWB and IMU estimates. The system presented uses a Steepest Descent Random Start (SDRS) algorithm to solve the nonlinear positioning problem. It is shown that SDRS is a stable algorithim under a realistic communications reciprocity assumption. The SDRS estimates are then treated as measurements by the navigation Kalman filter. The navigation filter also processes separate IMU-derived position estimates to update node position/velocity. Simulation results for an urban corridor are given showing < 6 m. rms position errors.
    Sponsors
    International Foundation for Telemetering
    ISSN
    0884-5123
    0074-9079
    Additional Links
    http://www.telemetry.org/
    Collections
    International Telemetering Conference Proceedings, Volume 48 (2012)

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