A LOW-DELAY AND ROBUST SOLUTION FOR RAPID MOVEMENT DETECTION USING UWB
Keywords: Low delay, Rapid movement, UWB, C-TWR, NLOS, TDMA, A-EKF
Abstract. The increasing applications for location-based services (LBS) and real-time location system (RTLS) promote the development of indoor positioning and navigation technology. However, the positioning methods based on traditional Radio Frequency (RF) signals are difficult to improve the accuracy and sensitivity for rapid movement detection with a low latency parameter. In order to solve those problems, this paper adopted ultra-wideband (UWB) chips as the wireless communication technology and designed a method of rapid movement detection with low delay. The method consists of a topology of combined two way ranging (C-TWR), a schedule of time division multiple access (TDMA), an non-light-of-sight (NLOS) handling mechanism and an adaptive extended Kalman filter (A-EKF). To examine the low delay performance, accuracy and robustness of the system, a specific electro-displacement actuator with programmable speed is applied to provide precise ground truth for real speed and distance, and a system test platform consisting of four anchors and four tags provides information of specific situation. The results show that the system can locate the rapid moving pedestrian with a maximal speed of approximately 5 m s−1 in real-time with a positioning accuracy of less than 0.5 m. There are profound implications for further studies in the range of human wearable tags.