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

2011 VII Southern Conference on Programmable Logic (SPL) Pub Date : 2011-04-13 DOI:10.1109/SPL.2011.5782632

Marcelo J. Segura, C. Sisterna, Martin Guzzo, Gustavo Ensinck, Carlos Gil

引用次数: 1

Abstract

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.

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基于FPGA的移动机器人室内自定位超宽带数字接收机

在基于脉冲的超宽带系统中，定位精度与信号带宽成反比。在这项工作中，许多锚节点位于室内环境的固定位置，通过差分二进制相移键控(DBPSK)调制传输同步的2.5ns脉冲。安装在移动机器人上的超宽带接收机利用同步发射锚节点对之间的到达时间差(TDOA)进行定位。自定位意味着位置估计算法在移动机器人上局部运行。利用现成的组件实现了一个原型非相干UWB接收机，其中信号采集运行在现场可编程门阵列(FPGA)上。测量结果表明，在典型的室内环境中，相对于固定锚节点，在视线(LOS)和非视线(NLOS)条件下，定位精度低于20cm。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2011 VII Southern Conference on Programmable Logic (SPL)

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