A Graph-based Approach to the Initial Guess of UWB Anchor Self-Calibration - Archive ouverte HAL
Preprints, Working Papers, ... Year : 2022

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

Cedric Pradalier
Antoine Richard
  • Function : Author
  • PersonId : 1087046
Pete Schroepfer
  • Function : Author
  • PersonId : 1221641

Abstract

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.
Fichier principal
Vignette du fichier
IROS22_UWB_SelfCalibration.pdf (2.91 Mo) Télécharger le fichier
Origin Files produced by the author(s)
Licence

Dates and versions

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

Licence

Identifiers

  • HAL Id : hal-03965253 , version 1

Cite

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

Share

More