|제목(국문)||TWR 기반 군집 협업측위 시스템의 오차 전파 분석|
|제목(영문)||Analysis of Error Propagation in Two-way-ranging-based Cooperative Positioning System|
,Department of Information and Communication Engineering, Chungnam National University
이창은 (Chang-Eun Lee ,Robot/Cognitive System Research Department Intelligent Robot Control Research Team, Electronics and Telecommunications Research Institute ) ▷공저자네트워크등록하기
성태경 (Tae-kyung Sung ,충남대학교 정보통신공학부 조교수 ) ▷공저자네트워크등록하기
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 oftags 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.
|keyword||two-way ranging, cooperative positioning system, error propagation|