an ultra- wideband location positioning navigation systemfor（超宽带定位导航系统）.doc

An Ultra-Wideband Location Positioning Navigation System for Mobile Robotics James Knox (B0036062) Supervisor : Dr J Condell Final Report (EEE521M4) April 2008 Abstract There is considerable interest in the development of real time location systems (RTLS) for industry. The ability to track the real-time location and movement of items or people offers a range of useful applications in areas such as safety, security and the supply chain. Current location determination technologies have limitations that heavily restrict how and where these applications are implemented, including the cost, accuracy of the location, calculation and inherent properties of the system. Real-time Ultra Wide Band Location determination is a technology that uses Ultra-wideband (UWB) to locate with precision a device in space and time. This real time location system can deliver very high positional accuracy in harsh industrial environments that previously caused problems for traditional location systems based on Wi-Fi of RFID due to interference. Ultra Wide Band systems work by being able to calculate the location of tags which are designed to be mounted on assets or to be worn by a person. They transmit UWB signals that are received by sensors which contain an array of antenna and ultra-wideband radio receivers. The data from these sensors combined with dedicated software uses algorithms to work out the angle of arrival (AOA) of the UWB signal from the tag which is then compared to the time difference of arrival (TDOA). This information is determined between pairs of sensors connected by timing cables. The combination of AOA and TDOA measurement technologies delivers a precise three dimensional location system that is powerful, reliable, robust - specifically designed for harsh industrial environments. This new technology can locate with precision items in 3D space and opens up a new world in interactive applications especially within the robotics industry. This thesi