Time-based UWB localization architectures analysis for UAVs positioning in industry

• Published in: Ad hoc networks Vol. 157; p. 103419
• Main Authors: Díez-González, Javier, Ferrero-Guillén, Rubén, Verde, Paula, Martínez-Gutiérrez, Alberto, Álvarez, Rubén, Torres-Sospedra, Joaquín
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 15.04.2024
• Subjects: A-TDOA; Cramér-Rao Bounds; Indoor localization; Node distribution optimization; TDOA; TOA; UAVs; A-TDOA; Node distribution optimization; Cramér-Rao Bounds; TDOA; Indoor localization; TOA; UAVs
• ISSN: 1570-8705; 1570-8713
• DOI: 10.1016/j.adhoc.2024.103419

Ultra-Wide-Band (UWB) technology allows for partially mitigating the NLOS and multipath effects of time-based localization in low-range applications. Thus, it has been widely proposed for indoor navigation, reaching very promising results with mature technology already available. However, an analysis of the suitability of different synchronous and asynchronous time-based architectures can provide valid conclusions for the future development of this field. For this reason, we perform in this paper a fair comparison of two traditional synchronous architectures (TOA and TDOA) and one asynchronous architecture (A-TDOA) defining the lowest error bounds for each architecture in an indoor industrial scenario devised for UAV navigation. Results have shown that although current industrial time-based localization software is mainly based on TDOA (synchronous) and Two-Way-Range (asynchronous) architectures, asynchronous localization can statistically provide more accurate and stable positioning services in indoor industrial environments. These results encourage further experimentation in other different asynchronous architectures in the coming years.