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Ultra wideband digital receiver implemented on FPGA for mobile robot indoor self-localization

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5 Author(s)
Segura, M. ; Dept. de Electron. y Autom., Univ. Nac. de San Juan, San Juan, Argentina ; Sisterna, C. ; Guzzo, M. ; Ensinck, G.
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In impulse-based UWB systems, positional accuracy is inversely proportional to the signal bandwidth. In this work, a number of anchor nodes are located at fixed positions in an indoor environment transmitting synchronized 2.5ns pulses with Differential Binary Phase Shift Keying (DBPSK) modulation. An UWB receiver mounted on a mobile robot utilizes Time Difference of Arrival (TDOA) between pairs of synchronized transmitting anchor nodes for localization. Self-localization implies that position estimation algorithms run locally on the mobile robot. A prototype non-coherent UWB receiver using off-the-shelf components is implemented where signal acquisition runs on a Field Programmable Gate Array (FPGA). Measurement results indicate sub-20cm positional accuracy with Line Of Sight (LOS) and Non-Line of Sight (NLOS) conditions relative to fixed anchor nodes in a typical indoor environment.

Published in:

Programmable Logic (SPL), 2011 VII Southern Conference on

Date of Conference:

13-15 April 2011

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