3D Performance Analysis of a UWB Positioning System in a Dynamic Robotic Scenario

摘要

Indoor positioning is gaining increasing attention in the industrial context to track vehicle, robot, or operator motions. The availability of low-cost ultra-wideband RF localization chips facilitates highly accurate 3D position estimation even in challenging metallic environments. In this work, we present an indoor positioning setup based on the Decawave DW1000 chip and 3D estimation results in a dynamic industrial robotic scenario. A performance analysis of achieved estimation accuracies from two different modes of operation is compared to the theoretical limits given by the Cramér-Rao lower bound.