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Pré-Publication, Document De Travail Année : 2022

A Graph-based Approach to the Initial Guess of UWB Anchor Self-Calibration

Cedric Pradalier
Antoine Richard
  • Fonction : Auteur
  • PersonId : 1087046
Pete Schroepfer
  • Fonction : Auteur
  • PersonId : 1221641

Résumé

This article considers the challenge of recovering an initial topology of a mesh of devices based on noisy and incomplete measurements of their inter-distances. In comparison to earlier approaches, this paper provides a first guess of the topology, as opposed to recovering a precise geometry of each device. Using a graph-based model of the problem and properties of the 2D and 3D simplices, we show: (a) a topologically correct solution can be recovered when the solution is unique; (b) we can identify which vertices cannot be recovered and why, using a graph structure; and (c) the challenges due to local symmetries in making the solution nonunique. Results in simulation and with a mesh of UWB anchors demonstrate the applicability of the approach.
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Dates et versions

hal-03965253 , version 1 (31-01-2023)

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Paternité

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  • HAL Id : hal-03965253 , version 1

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Cedric Pradalier, Antoine Richard, Pete Schroepfer. A Graph-based Approach to the Initial Guess of UWB Anchor Self-Calibration. 2022. ⟨hal-03965253⟩
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