Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors

Kenneth John Batstone; Magnus Oskarsson; Karl Åström

doi:10.1109/IPIN.2017.8115885

Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors

Kenneth John Batstone, Magnus Oskarsson, Karl Åström

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

Indoor localisation is a currently a key issue, from robotics to the Internet of Things. With hardware advancements making Ultra-Wideband devices more accurate and low powered (potentially even passive), this unlocks the potential of having such devices in common place around factories and homes, enabling an alternative method of navigation. Therefore, anchor calibration indoors becomes a key problem in order to implement these devices efficiently and effectively. In this paper, we study the possibility for sequentially gathering Ultra-Wideband Time-of-Arrival measurements and using previously studied robust solvers, merge solutions together in order to calculate anchor positions in 3D in real-time. Here it is assumed that there is no prior knowledge of the anchor positions. This is then validated using Ultra-Wideband Time-of-Arrival data gathered by a Bitcraze Crazyflie quadcopter in 2D motion, 3D motion and full flight.

Original language	English
Title of host publication	International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Number of pages	8
DOIs	https://doi.org/10.1109/IPIN.2017.8115885
Publication status	Published - 2017 Sept
Event	International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017 - Conference Hall, Hokkaido University, Sapporo, Japan Duration: 2017 Sept 18 → 2017 Sept 21 http://www.ipin2017.org

Conference

Conference	International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017
Abbreviated title	IPIN
Country/Territory	Japan
City	Sapporo
Period	2017/09/18 → 2017/09/21
Internet address	http://www.ipin2017.org

Subject classification (UKÄ)

Computer graphics and computer vision

Access to Document

10.1109/IPIN.2017.8115885

Cite this

@inproceedings{ef87164359104eeb9f69e78b2dbc761c,

title = "Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors",

abstract = "Indoor localisation is a currently a key issue, from robotics to the Internet of Things. With hardware advancements making Ultra-Wideband devices more accurate and low powered (potentially even passive), this unlocks the potential of having such devices in common place around factories and homes, enabling an alternative method of navigation. Therefore, anchor calibration indoors becomes a key problem in order to implement these devices efficiently and effectively. In this paper, we study the possibility for sequentially gathering Ultra-Wideband Time-of-Arrival measurements and using previously studied robust solvers, merge solutions together in order to calculate anchor positions in 3D in real-time. Here it is assumed that there is no prior knowledge of the anchor positions. This is then validated using Ultra-Wideband Time-of-Arrival data gathered by a Bitcraze Crazyflie quadcopter in 2D motion, 3D motion and full flight.",

author = "Batstone, {Kenneth John} and Magnus Oskarsson and Karl {\AA}str{\"o}m",

year = "2017",

month = sep,

doi = "10.1109/IPIN.2017.8115885",

language = "English",

booktitle = "International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017 , IPIN ; Conference date: 18-09-2017 Through 21-09-2017",

url = "http://www.ipin2017.org",

}

Batstone, KJ, Oskarsson, M & Åström, K 2017, Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors. in International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017 . IEEE - Institute of Electrical and Electronics Engineers Inc., International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017 , Sapporo, Japan, 2017/09/18. https://doi.org/10.1109/IPIN.2017.8115885

Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors. / Batstone, Kenneth John; Oskarsson, Magnus ; Åström, Karl.
International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017 . IEEE - Institute of Electrical and Electronics Engineers Inc., 2017.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors

AU - Batstone, Kenneth John

AU - Oskarsson, Magnus

AU - Åström, Karl

PY - 2017/9

Y1 - 2017/9

N2 - Indoor localisation is a currently a key issue, from robotics to the Internet of Things. With hardware advancements making Ultra-Wideband devices more accurate and low powered (potentially even passive), this unlocks the potential of having such devices in common place around factories and homes, enabling an alternative method of navigation. Therefore, anchor calibration indoors becomes a key problem in order to implement these devices efficiently and effectively. In this paper, we study the possibility for sequentially gathering Ultra-Wideband Time-of-Arrival measurements and using previously studied robust solvers, merge solutions together in order to calculate anchor positions in 3D in real-time. Here it is assumed that there is no prior knowledge of the anchor positions. This is then validated using Ultra-Wideband Time-of-Arrival data gathered by a Bitcraze Crazyflie quadcopter in 2D motion, 3D motion and full flight.

AB - Indoor localisation is a currently a key issue, from robotics to the Internet of Things. With hardware advancements making Ultra-Wideband devices more accurate and low powered (potentially even passive), this unlocks the potential of having such devices in common place around factories and homes, enabling an alternative method of navigation. Therefore, anchor calibration indoors becomes a key problem in order to implement these devices efficiently and effectively. In this paper, we study the possibility for sequentially gathering Ultra-Wideband Time-of-Arrival measurements and using previously studied robust solvers, merge solutions together in order to calculate anchor positions in 3D in real-time. Here it is assumed that there is no prior knowledge of the anchor positions. This is then validated using Ultra-Wideband Time-of-Arrival data gathered by a Bitcraze Crazyflie quadcopter in 2D motion, 3D motion and full flight.

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U2 - 10.1109/IPIN.2017.8115885

DO - 10.1109/IPIN.2017.8115885

M3 - Paper in conference proceeding

BT - International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017

Y2 - 18 September 2017 through 21 September 2017

ER -

Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors

Abstract

Conference

Subject classification (UKÄ)

Access to Document

Other files and links

Fingerprint

Computer Vision without Vision: Methods and Applications of Radio and Audio Based SLAM

Semantic Mapping and Visual Navigation for Smart Robots

Cite this

Towards Real-time Time-of-Arrival Self-Calibration using Ultra-Wideband Anchors

Abstract

Conference

Subject classification (UKÄ)

Access to Document

Other files and links

Fingerprint

Research output

Computer Vision without Vision: Methods and Applications of Radio and Audio Based SLAM

Projects

Semantic Mapping and Visual Navigation for Smart Robots

Cite this