UWB-based Infrastructure-free Cooperative Navigation with NLoS Ranging bias Compensation for Indoor Pedestrian Geolocation

Jianan Zhu, Solmaz S. Kia

Peer Reviewed

Abstract:	In this paper, we study the effect of the Ultra Wide Band (UWB) ranging sensor’s accuracy (both its standard deviation and bias) on a loosely coupled cooperative navigation augmentation for team of pedestrians under GNSS-denied environments. We develop methods to compensate for the UWB ranging bias in none-line-of-sight (NLoS) measurement environments. Our cooperative localization solution in algorithmic level offers a method that does not require any network-wide connectivity among the agents to maintain the consistency of the cooperative localization process. In operational level, we specialize this cooperative localization filter to correctly process the UWB ranging measurements by accurately characterizing the measurement error statistics and compensating for the bias in the measurements. The results contribute to development of a rapidly deployable infrastructure-free localization system to track firefighters inside of a structure such as a building.
Published in:	Proceedings of the 2019 International Technical Meeting of The Institute of Navigation January 28 - 31, 2019 Hyatt Regency Reston Reston, Virginia
Pages:	334 - 344
Cite this article:	Zhu, Jianan, Kia, Solmaz S., "UWB-based Infrastructure-free Cooperative Navigation with NLoS Ranging bias Compensation for Indoor Pedestrian Geolocation," Proceedings of the 2019 International Technical Meeting of The Institute of Navigation, Reston, Virginia, January 2019, pp. 334-344. https://doi.org/10.33012/2019.16696
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