Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Analysis of Error Propagation in Two-way-ranging-based Cooperative Positioning System

TWR 기반 군집 협업측위 시스템의 오차 전파 분석

  • Lim, Jeong-Min (Department of Information and Communication Engineering, Chungnam National University) ;
  • Lee, Chang-Eun (Robot/Cognitive System Research Department Intelligent Robot Control Research Team, Electronics and Telecommunications Research Institute) ;
  • Sung, Tae-Kyung (Department of Information and Communication Engineering, Chungnam National University)
  • 임정민 (충남대학교 전자전파정보통신공학과) ;
  • 이창은 (한국전자통신연구원 로봇/인지융합연구부) ;
  • 성태경 (충남대학교 전자전파정보통신공학과)
  • Received : 2015.03.05
  • Accepted : 2015.07.01
  • Published : 2015.09.01
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Abstract

Alternative radio-navigation technologies aim at providing continuous navigation solution even if one cannot use GNSS (Global Navigation Satellite System). In shadowing region such as indoor environment, GNSS signal is no longer available and the alternative navigation system should be used together with GNSS to provide seamless positioning. For soldiers in battlefield where GNSS signal is jammed or in street battle, the alternative navigation system should work without positioning infrastructure. Moreover, the radio-navigation system should have scalability as well as high accuracy performance. This paper presents a TWR (Two-Way-Ranging)-based cooperative positioning system (CPS) that does not require location infrastructure. It is assumed that some members of CPS can obtain GNSS-based position and they are called mobile anchors. Other members unable to receive GNSS signal compute their position using TWR measurements with mobile anchors and neighboring members. Error propagation in CPS is analytically studied in this paper. Error budget for TWR measurements is modeled first. Next, location error propagation in CPS is derived in terms of range errors. To represent the location error propagation in the CPS, Location Error Propagation Indicator (LEPI) is proposed in this paper. Simulation results show that location error of tags in CPS is mainly influenced by the number of hops from anchors to the tag to be positioned as well as the network geometry of CPS.

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References

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