Abstract
It is urgent to explore a short-time method with high accuracy for indoor high-speed mobile robot to realize accurate motion control in a positioning way with high accuracy and real-time performance in indoor environment without satellite navigation signals. After deeply studying UWB positioning mode, this paper proposes an improved single-sided two-way ranging (SS-TWR) based time of arrival (TOA) rotating update positioning system, which can shorten positioning time and improve positioning frequency due to its ranging method and least squares algorithm for polling update positioning compared to the common double-sided two-way ranging (DS-TWR) based TOA positioning method. The comparison experiment in indoor environment demonstrates that positioning error of the improved SS-TWR positioning system is lower than 20 cm and positioning refresh time is lower than 5ms.
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Acknowledgement
The research reported in this paper was supported by National Natural Science Foundation of China (No.61876187 and No.61931020) and Hunan Provincial Natural Science Foundation of China (2020JJ5668).
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Chen, S., Yin, D., Niu, Y. (2022). Research and Implementation of Improved SS-TWR TOA Positioning Method Based on UWB. In: Wu, M., Niu, Y., Gu, M., Cheng, J. (eds) Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021). ICAUS 2021. Lecture Notes in Electrical Engineering, vol 861. Springer, Singapore. https://doi.org/10.1007/978-981-16-9492-9_337
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DOI: https://doi.org/10.1007/978-981-16-9492-9_337
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