Development of a Cooperative Localization System using a UWB Network and BLE Technology
- Resource Type
- Conference
- Authors
- Brunacci, Valerio; De Angelis, Alessio; Costante, Gabriele
- Source
- 2022 IEEE International Symposium on Measurements & Networking (M&N) Measurements & Networking (M&N), 2022 IEEE International Symposium on. :1-6 Jul, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Photonics and Electrooptics
Signal Processing and Analysis
Location awareness
Performance evaluation
Wireless networks
System performance
Estimation
Position measurement
Distance measurement
UWB Range Measurement
BLE
Cooperative Localization
Fully-Wireless Localization Network
Relative Positioning
NLSS Position Estimation
- Language
- ISSN
- 2639-5061
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.