Accurate and robust positioning technology in the mass-market segment is pivotal to support a number of critical Positioning, Navigation and Timing (PNT) applications. State-of-the-art Global Navigation Satellite System (GNSS) receivers design has been increasingly targeting flexible, embedded architectures integrating low-cost sensors to overcome GNSS limitations. The widespread proliferation of Ultra-Wide Band (UWB) technology, which enables centimeter-level accurate ranging in cluttered environments, is an appealing candidate for tight hybridisation with GNSS. When dealing with data streams from different Commercial-Off-The-Shelf (COTS) sensors, it is known that temporal misalignment is of concern, and accurate state-estimation via centralised, recursive filtering architectures can be undermined. As a first contribution, this work theoretically analyses the accuracy impact of asynchronous data association in the framework of a tightly integrated GNSS/UWB system leveraging plain Extended Kalman Filter (EKF) integration. Then, it puts forward a novel EKF-based model implementing online time offset estimation and compensation (i.e., time calibration) for GNSS/UWB tight integration. Results obtained in a multi-agent, cooperative scenario demonstrate that the proposed hybridisation methodology can achieve horizontal and vertical positioning accuracy gains of \SI{33.95}{\%} and \SI{59.33}{\%} , respectively, in Root-Mean-Square Error (RMSE) terms.
Improved Outdoor Target Tracking via EKF-based GNSS/UWB Tight Integration with Online Time Synchronisation / Guo, Yihan; Vouch, Oliviero; Zocca, Simone; Minetto, Alex; Dovis, Fabio. - ELETTRONICO. - (2022), pp. 2409-2422. (Intervento presentato al convegno International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) tenutosi a Denver, Colorado (USA) nel September 19 - 23, 2022) [10.33012/2022.18387].
Improved Outdoor Target Tracking via EKF-based GNSS/UWB Tight Integration with Online Time Synchronisation
Guo, Yihan;Vouch, Oliviero;Zocca, Simone;Minetto, Alex;Dovis, Fabio
2022
Abstract
Accurate and robust positioning technology in the mass-market segment is pivotal to support a number of critical Positioning, Navigation and Timing (PNT) applications. State-of-the-art Global Navigation Satellite System (GNSS) receivers design has been increasingly targeting flexible, embedded architectures integrating low-cost sensors to overcome GNSS limitations. The widespread proliferation of Ultra-Wide Band (UWB) technology, which enables centimeter-level accurate ranging in cluttered environments, is an appealing candidate for tight hybridisation with GNSS. When dealing with data streams from different Commercial-Off-The-Shelf (COTS) sensors, it is known that temporal misalignment is of concern, and accurate state-estimation via centralised, recursive filtering architectures can be undermined. As a first contribution, this work theoretically analyses the accuracy impact of asynchronous data association in the framework of a tightly integrated GNSS/UWB system leveraging plain Extended Kalman Filter (EKF) integration. Then, it puts forward a novel EKF-based model implementing online time offset estimation and compensation (i.e., time calibration) for GNSS/UWB tight integration. Results obtained in a multi-agent, cooperative scenario demonstrate that the proposed hybridisation methodology can achieve horizontal and vertical positioning accuracy gains of \SI{33.95}{\%} and \SI{59.33}{\%} , respectively, in Root-Mean-Square Error (RMSE) terms.File | Dimensione | Formato | |
---|---|---|---|
ION_GNSS_2022_GNSS_UWB_Synch_Full_Paper.pdf
accesso aperto
Descrizione: Paper approved for publication in the proceedings with a peer review designation
Tipologia:
2. Post-print / Author's Accepted Manuscript
Licenza:
PUBBLICO - Tutti i diritti riservati
Dimensione
1.37 MB
Formato
Adobe PDF
|
1.37 MB | Adobe PDF | Visualizza/Apri |
GNSS22-0230.pdf
non disponibili
Descrizione: Published version
Tipologia:
2a Post-print versione editoriale / Version of Record
Licenza:
Non Pubblico - Accesso privato/ristretto
Dimensione
1.51 MB
Formato
Adobe PDF
|
1.51 MB | Adobe PDF | Visualizza/Apri Richiedi una copia |
Pubblicazioni consigliate
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11583/2971246