Soft Multipath Information-Based UWB Tracking in Cluttered Scenarios: Preliminaries and Validations
arxiv(2024)
Abstract
In this paper, we investigate ultra-wideband (UWB) localization and tracking
in cluttered environments. Instead of mitigating the multipath, we exploit the
specular reflections to enhance the localizability and improve the positioning
accuracy. With the assistance of the multipath, it is also possible to achieve
localization purposes using fewer anchors or when the line-of-sight
propagations are blocked. Rather than using single-value distance, angle, or
Doppler estimates for the localization, we model the likelihoods of both the
line-of-sight and specular multipath components, namely soft multipath
information, and propose the multipath-assisted probabilistic UWB tracking
algorithm. Experimental results in a cluttered industrial scenario show that
the proposed algorithm achieves 46.4 cm and 33.1 cm 90th percentile errors in
the cases of 3 and 4 anchors, respectively, which outperforms conventional
methods with more than 61.8
multipath effect.
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