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error mitigation in uwb-based positioning systems using an adapted tree approach
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نویسنده
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saberi m.m ,azimi m. ,shahnavaz m.m. ,ebadollahi s. ,نجفی h. ,sobati m.a
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منبع
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كنترل - 2024 - دوره : 18 - شماره : 1 - صفحه:69 -79
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چکیده
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This paper addresses the challenge of mitigating positioning errors in ultra-wide band (uwb) networks. we propose an adapted tree approach that compensates for error effects, leading to improved accuracy in both line-of-sight (los) and non-line-of-sight (nlos) environments. the ranging errors are classified into two types, los and nlos condition errors, and the adapted tree approach starts with splitting the study based on the presence of these conditions. the ranging error values are studied in different distances and intervals are identified based on the standard deviation error criterion. the positioning results are presented and analyzed, showing that utilizing the adapted tree leads to an average error mitigation of about 53.4 cm in the los condition and about 133 cm in the nlos condition. the results demonstrate the effectiveness of the adapted tree approach in error mitigation for both los and nlos conditions. furthermore, the ekf estimation method is found to be the most accurate estimator. finally, the proposed approach is applied on a moving tag, achieving an accuracy of about 20.8 cm for los and 24.1 cm for nlos conditions through the ekf method.
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کلیدواژه
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indoor positioning systems ,real-time locating systems ,error mitigation ,extended kalman filter
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آدرس
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iran university of science and technology, school of electrical engineering, iran, iran university of science and technology, school of electrical engineering, iran, iran university of science and technology, school of electrical engineering, iran, iran university of science and technology, school of electrical engineering, iran, farayand sabz engineering company, iran, iran university of science and technology, school of chemical engineering, iran
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پست الکترونیکی
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sobati@iust.ac.ir
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error mitigation in uwb-based positioning systems using an adapted tree approach
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Authors
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saberi mohammad mahdi ,azimi mohammad ,shahnavaz mohammad mahdi ,ebadollahi saeed ,najafi hamidreza ,sobati mohammad amin
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Abstract
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this paper addresses the challenge of mitigating positioning errors in ultra-wide band (uwb) networks. we propose an adapted tree approach that compensates for error effects, leading to improved accuracy in both line-of-sight (los) and non-line-of-sight (nlos) environments. the ranging errors are classified into two types, los and nlos condition errors, and the adapted tree approach starts with splitting the study based on the presence of these conditions. the ranging error values are studied in different distances and intervals are identified based on the standard deviation error criterion. the positioning results are presented and analyzed, showing that utilizing the adapted tree leads to an average error mitigation of about 53.4 cm in the los condition and about 133 cm in the nlos condition. the results demonstrate the effectiveness of the adapted tree approach in error mitigation for both los and nlos conditions. furthermore, the ekf estimation method is found to be the most accurate estimator. finally, the proposed approach is applied on a moving tag, achieving an accuracy of about 20.8 cm for los and 24.1 cm for nlos conditions through the ekf method.
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Keywords
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indoor positioning systems ,real-time locating systems ,error mitigation ,extended kalman filter
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