Evaluation of the use of UWB Devices for Indoor Positioning of Autonomous Ground Vehicles

Abstract

This work aims to evaluate the practical use of UWB technology in localizing an autonomous land vehicle in an industrial environment. The project describes the implementation of a testing system using commercial UWB modules DWB3000EVB to assess UWB in performing Time-of-Flight (ToF) measurements through the TWR methodology and consequently determine distances between anchors and tags. These distances are used to calculate indoor positioning through trilateration and multilateration algorithms. An experiment was carried out in an empty room where nine anchors were installed to evaluate the UWB. During the test, a mobile system carries a tag connected to a notebook responsible for data acquisition. The results obtained using both trilateration and multilateration demonstrate that UWB can be used accurately in indoor positioning.