Indoor Positioning Based on ROS Using an Ultra- Wideband System

TRASMA YUNITA, AFAF FADHIL RIFA’I, MUHAMMAD RIDWAN, FITRIA SURYATINI, ARIS BUDIYARTO

Abstract


Numerous technologies employ indoor positioning applications, including Ultrawideband (UWB) technology that requires excellent accuracy. This research aims to enhance indoor location accuracy in UWB technology with the NodeMCU-UWBBU01 module by integrating a two-way ranging algorithm, moving average technique, and trilateration. The distance between two modules can be determined using the two-way ranging algorithm's Time of Flight (ToF) signal. The moving average approach filters the ToF signal processed on the Robotic Operating System platform for robot movement. The trilateration method converts the distance into position coordinates as the end output. In static and dynamic accuracy assessments, the maximum error in measurement findings is 4.3% within 50 cm to 600 cm. In evaluating coordinate reading accuracy, the mean error is 1.2% on the X-axis and 3.13% on the Y-axis.


Keywords


Indoor Positioning, Two Way Ranging; Moving Average; Trilateralization

Full Text:

PDF

References


Alarifi, A., Al-Salman, A., Alsaleh, M., Alnafessah, A., Al-Hadhrami, S., Al-Ammar, M. A., & Al-Khalifa, H. S. (2016). Ultra-wideband indoor positioning technologies: Analysis and recent advances. Sensors (Switzerland), 16(5). https://doi.org/10.3390/s16050707

Bostanci, B., Soyunmez, E., & Oguz-Ekim, P. (2019). The LiDAR and UWB based Source Localization and Initialization Algorithms for Autonomous Robotic Systems. 11th International Conference on Electrical and Electronics Engineering (ELECO).

Che, F., Ahmed, Q. Z., Lazaridis, P. I., Sureephong, P., & Alade, T. (2023). Indoor Positioning System (IPS) Using Ultra-Wide Bandwidth (UWB)—For Industrial Internet of Things (IIoT). Sensors, 23(12). https://doi.org/10.3390/s23125710

Cheng, G. (2012). Accurate TOA-Based UWB Localization System in Coal Mine Based on WSN. Physics Procedia, 24, 534–540. https://doi.org/10.1016/j.phpro.2012.02.078

Ciganek, J., Kozak, S. (Stefan), Kozakova, A., IEEE Czechoslovakia Section. Control Systems Society Chapter, Slovenska spolocnost pre kybernetiku a informatiku, & Institute of Electrical and Electronics Engineers. (2020). Navigation of the mobile robots using the RTLS technology implemented in the ROS. Cybernetics & Informatics (K&I).

Cotera, P., Velazquez, M., Cruz, D., Medina, L., & Bandala, M. (2016). Indoor Robot Positioning Using an Enhanced Trilateration Algorithm. International Journal of Advanced Robotic Systems, 13(3). https://doi.org/10.5772/63246

Duru, A., Sehirli, E., & Kabalci, I. (2018, Juni 19). Ultra-wideband positioning system using TWR and lateration methods. ACM International Conference Proceeding Series. https://doi.org/10.1145/3234698.3234756

Hadipranoto, A. A., Kuantama, E., & Uranus, H. P. (2019). UWB Communication Module Design for User Tracking and Following System for Hovercrafts. Prosiding Seminar Nasional Sains, Rekayasa & Teknologi (SNSRT). https://www.researchgate.net/publication/335188960

Pan, D., & Yu, Y. (2019). Indoor Position System Based on Improved TDOA Algorithm. IOP Conference Series: Materials Science and Engineering, 585(1). https://doi.org/10.1088/1757-899X/585/1/012075

Patoliya, J., Rajai, P. T., Kaur Saini, J. S., Khatwani, K., Professor, A., & Patel, V. T. (2019). BRIEF REVIEW ON WIRELESS ROS MASTER-SLAVE COMMUNICATION USING EMBEDDED IoT Device: NodeMCU. International Journal of Research and Analytical Reviews(IJRAR), 6(2). http://ijrar.com/

Pinar, O.-E., Bostanci, B., & Soyunmez, S. C. T. ve E. (2020). The EKF based Localization and Initialization Algorithms with UWB and Odometry for Indoor Applications and ROS Ecosystem. 28th Signal Processing and Communications Applications Conference (SIU).

Prana, T. A., Hannats, M., Ichsan, H., & Setyawan, G. E. (2019). Monitoring Daya Menggunakan Algoritma Shortest Job First Pada Wireless Sensor Network. Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer, 3(1), 593–602. http://j-ptiik.ub.ac.id

Thinker, A. (2020). NodeMCU-BU01 Specification V 1.1.

Wang, N., Yuan, X., Ma, L., & Tian, X. (2020). Research on Indoor Positioning Technology Based on UWB. Chinese Control and Decision Conference (CCDC).

Yang, J., & Yan, M. (2018). Implementation of UWB indoor location and distance measurement based on the TOF algorithm. MATEC Web Conf. 173, 03018. https://doi.org/10.1051/matecconf/2018173




DOI: https://doi.org/10.26760/elkomika.v13i1.100

Refbacks

  • There are currently no refbacks.


 

_______________________________________________________________________________________________________________________

ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638

Publisher:

Department of Electrical Engineering Institut Teknologi Nasional Bandung, Indonesia

Address: 20th Building  Institut Teknologi Nasional Bandung PHH. Mustofa Street No. 23 Bandung 40124, Indonesia

Contact: +627272215 (ext. 206)

Email: jte.itenas@itenas.ac.id________________________________________________________________________________________________________________________


Free counters!

Web Analytics Made Easy - StatCounter

Statistic Journal

Jurnal ini terlisensi oleh Creative Commons Attribution-ShareAlike 4.0 International License.

Creative Commons License