Phase Difference of Arrival Aided Downlink Time Difference of Arrival Ultra-Wide Band Positioning System
Currently there is a growing demand for accurate and reliable positioning indoors or in other environments, where Global Navigation Satellite Systems (GNSS) are unavailable. The precise positioning is required for example by autonomous vehicles used in the industry, safety anti-collision systems or...
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IEEE
2025-01-01
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| author | Josef Krska Christian Gentner Vaclav Navratil |
| author_facet | Josef Krska Christian Gentner Vaclav Navratil |
| author_sort | Josef Krska |
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| description | Currently there is a growing demand for accurate and reliable positioning indoors or in other environments, where Global Navigation Satellite Systems (GNSS) are unavailable. The precise positioning is required for example by autonomous vehicles used in the industry, safety anti-collision systems or for tracking of goods. Ultra-Wide Band (UWB) positioning systems provide precise location information and are therefore often utilized in such scenarios. The GNSS-like Downlink Time Difference of Arrival (TDoA) method is well suited for these problems, enabling unlimited number of simultaneous users. The addition of independent measurements is often sought for improved precision and robustness of the position estimates. So far, only time-based measurements were available, however, UWB boards capable of Phase Difference of Arrival (PDoA) and thus Angle of Arrival measurements have been introduced recently. In this article we leverage UWB-PDoA board with two Qorvo DW1000 transceivers that share a common clock. Its position is estimated by fusing the TDoA and PDoA by Extended Kalman Filter (EKF) in downlink-based system. The EKF tracks the clock bias between the two chips; consequently, prior calibration is unnecessary, as it is done online. Moreover, precise localization is enabled through the algorithm that resolves the ambiguity of PDoA measurements. The positioning performance evaluation shows improvement in accuracy with respect to the TDoA-only solution. The root-mean-square error decreased from 16.38 cm to 15.09 cm, i.e., 8 %, when evaluated among all test points. In the best case, reduction from 14.79 cm to 10.14 cm, i.e., 35 % was observed. |
| format | Article |
| id | doaj-art-42a71f9b34814903a869bbd5ebaf1208 |
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| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
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| spelling | doaj-art-42a71f9b34814903a869bbd5ebaf12082025-08-20T01:49:31ZengIEEEIEEE Access2169-35362025-01-0113816288164210.1109/ACCESS.2025.356782110990153Phase Difference of Arrival Aided Downlink Time Difference of Arrival Ultra-Wide Band Positioning SystemJosef Krska0https://orcid.org/0000-0002-2295-8805Christian Gentner1https://orcid.org/0000-0003-4298-8195Vaclav Navratil2https://orcid.org/0000-0003-0206-2005Department of Radio Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech RepublicGerman Aerospace Center (DLR), Institute of Communications and Navigation, Weßling, GermanyDepartment of Radio Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech RepublicCurrently there is a growing demand for accurate and reliable positioning indoors or in other environments, where Global Navigation Satellite Systems (GNSS) are unavailable. The precise positioning is required for example by autonomous vehicles used in the industry, safety anti-collision systems or for tracking of goods. Ultra-Wide Band (UWB) positioning systems provide precise location information and are therefore often utilized in such scenarios. The GNSS-like Downlink Time Difference of Arrival (TDoA) method is well suited for these problems, enabling unlimited number of simultaneous users. The addition of independent measurements is often sought for improved precision and robustness of the position estimates. So far, only time-based measurements were available, however, UWB boards capable of Phase Difference of Arrival (PDoA) and thus Angle of Arrival measurements have been introduced recently. In this article we leverage UWB-PDoA board with two Qorvo DW1000 transceivers that share a common clock. Its position is estimated by fusing the TDoA and PDoA by Extended Kalman Filter (EKF) in downlink-based system. The EKF tracks the clock bias between the two chips; consequently, prior calibration is unnecessary, as it is done online. Moreover, precise localization is enabled through the algorithm that resolves the ambiguity of PDoA measurements. The positioning performance evaluation shows improvement in accuracy with respect to the TDoA-only solution. The root-mean-square error decreased from 16.38 cm to 15.09 cm, i.e., 8 %, when evaluated among all test points. In the best case, reduction from 14.79 cm to 10.14 cm, i.e., 35 % was observed.https://ieeexplore.ieee.org/document/10990153/Direction-of-arrival estimationindoor navigationKalman filtersradio navigationultra wideband technology |
| spellingShingle | Josef Krska Christian Gentner Vaclav Navratil Phase Difference of Arrival Aided Downlink Time Difference of Arrival Ultra-Wide Band Positioning System IEEE Access Direction-of-arrival estimation indoor navigation Kalman filters radio navigation ultra wideband technology |
| title | Phase Difference of Arrival Aided Downlink Time Difference of Arrival Ultra-Wide Band Positioning System |
| title_full | Phase Difference of Arrival Aided Downlink Time Difference of Arrival Ultra-Wide Band Positioning System |
| title_fullStr | Phase Difference of Arrival Aided Downlink Time Difference of Arrival Ultra-Wide Band Positioning System |
| title_full_unstemmed | Phase Difference of Arrival Aided Downlink Time Difference of Arrival Ultra-Wide Band Positioning System |
| title_short | Phase Difference of Arrival Aided Downlink Time Difference of Arrival Ultra-Wide Band Positioning System |
| title_sort | phase difference of arrival aided downlink time difference of arrival ultra wide band positioning system |
| topic | Direction-of-arrival estimation indoor navigation Kalman filters radio navigation ultra wideband technology |
| url | https://ieeexplore.ieee.org/document/10990153/ |
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