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dc.contributor.authorIltis, Ronald A.
dc.date.accessioned2015-11-05T16:33:08Zen
dc.date.available2015-11-05T16:33:08Zen
dc.date.issued2012-10en
dc.identifier.issn0884-5123en
dc.identifier.issn0074-9079en
dc.identifier.urihttp://hdl.handle.net/10150/581856en
dc.descriptionITC/USA 2012 Conference Proceedings / The Forty-Eighth Annual International Telemetering Conference and Technical Exhibition / October 22-25, 2012 / Town and Country Resort & Convention Center, San Diego, Californiaen_US
dc.description.abstractA 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.
dc.description.sponsorshipInternational Foundation for Telemeteringen
dc.language.isoen_USen
dc.publisherInternational Foundation for Telemeteringen
dc.relation.urlhttp://www.telemetry.org/en
dc.rightsCopyright © held by the author; distribution rights International Foundation for Telemeteringen_US
dc.subjectRadiolocationen
dc.subjectnonlinear programmingen
dc.subjectKalman filteringen
dc.subjectnavigationen
dc.titleSystem-Level Algorithm Design for Radionavigation using UWB Waveformsen_US
dc.typetexten
dc.typeProceedingsen
dc.contributor.departmentUniversity of California, Santa Barbaraen
dc.identifier.journalInternational Telemetering Conference Proceedingsen
dc.description.collectioninformationProceedings 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.en_US
refterms.dateFOA2018-07-14T23:27:51Z
html.description.abstractA 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.


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