1. Development of a Cooperative Localization System using a UWB Network and BLE Technology
- Author
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Valerio Brunacci, Alessio De Angelis, and Gabriele Costante
- Subjects
FOS: Computer and information sciences ,Computer Science - Robotics ,BLE ,FOS: Electrical engineering, electronic engineering, information engineering ,Systems and Control (eess.SY) ,NLSS Position Estimation ,Relative Positioning ,Cooperative Localization ,Robotics (cs.RO) ,Fully-Wireless Localization Network ,UWB Range Measurement ,Electrical Engineering and Systems Science - Systems and Control - Abstract
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth Low Energy protocol to acquire data. Furthermore, a nonlinear least squares problem is formulated and solved numerically for estimating the relative positions of the nodes. The localization performance of the system is validated by experimental tests, demonstrating the capability of measuring the relative position of a network comprised of 4 nodes with an accuracy of the order of 3 cm and an update rate of 10 Hz. This shows the feasibility of applying the proposed system for multi-robot cooperative localization and formation control scenarios., 6 pages, 12 figures, 2022 IEEE International Symposium on Measurements & Networking (M&N)
- Published
- 2022