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Inertially-Aided Navigation With Ultra-Wideband Wireless Ranging
Inertially-Aided Navigation With Ultra-Wideband Wireless Ranging
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20260202105512
- ISBN
- 9798263328313
- DDC
- 001
- 저자명
- Jiang, Fan.
- 서명/저자
- Inertially-Aided Navigation With Ultra-Wideband Wireless Ranging
- 발행사항
- [Sl] : Georgia Institute of Technology, 2025
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2025
- 형태사항
- 159 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 87-06, Section: B.
- 주기사항
- Includes supplementary digital materials.
- 주기사항
- Advisor: Dellaert, Frank;Dhekne, Ashutosh.
- 학위논문주기
- Thesis (Ph.D.)--Georgia Institute of Technology, 2025.
- 초록/해제
- 요약Radio-based sensing offers compelling advantages over optical systems, particularly in challenging environments where visual solutions face limitations. However, their deployment in real applications is limited by effects such as multipath and non-line-of-sight (NLOS) propagation. This dissertation investigates the integration of Ultra-Wideband (UWB) range sensing with inertial measurements for robust localization and navigation. Despite UWB's one-dimensional measurement constraint compared to rich visual data, we demonstrate that strategic fusion with inertial sensors can robustly achieve centimeter-level accuracy. The thesis presents three significant new contributions: (1) a comprehensive framework for indoor localization using low-power UWB-IMU fusion; (2) a novel motion capture system achieving high localization accuracy for spatial context in AR/VR applications; and (3) self-calibrated localization methods for UWB-IMU sensor networks for ad-hoc deployment in unknown environments. Through theoretical analysis and experimental validation, we provide solutions to fundamental challenges in sensor calibration, optimal sensor fusion, and real-time implementation, establishing a foundation for radio-based localization in diverse applications where reliability and precision are crucial.
- 일반주제명
- Software
- 일반주제명
- Computer engineering
- 일반주제명
- Electrical engineering
- 기본자료저록
- Dissertations Abstracts International. 87-06B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■007cr#unu||||||||
■020 ▼a9798263328313
■035 ▼a(MiAaPQ)AAI32308404
■035 ▼a(MiAaPQ)GeorgiaTech77938
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a001
■1001 ▼aJiang, Fan.
■24510▼aInertially-Aided Navigation With Ultra-Wideband Wireless Ranging
■260 ▼a[Sl]▼bGeorgia Institute of Technology▼c2025
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2025
■300 ▼a159 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 87-06, Section: B.
■500 ▼aIncludes supplementary digital materials.
■500 ▼aAdvisor: Dellaert, Frank;Dhekne, Ashutosh.
■5021 ▼aThesis (Ph.D.)--Georgia Institute of Technology, 2025.
■520 ▼aRadio-based sensing offers compelling advantages over optical systems, particularly in challenging environments where visual solutions face limitations. However, their deployment in real applications is limited by effects such as multipath and non-line-of-sight (NLOS) propagation. This dissertation investigates the integration of Ultra-Wideband (UWB) range sensing with inertial measurements for robust localization and navigation. Despite UWB's one-dimensional measurement constraint compared to rich visual data, we demonstrate that strategic fusion with inertial sensors can robustly achieve centimeter-level accuracy. The thesis presents three significant new contributions: (1) a comprehensive framework for indoor localization using low-power UWB-IMU fusion; (2) a novel motion capture system achieving high localization accuracy for spatial context in AR/VR applications; and (3) self-calibrated localization methods for UWB-IMU sensor networks for ad-hoc deployment in unknown environments. Through theoretical analysis and experimental validation, we provide solutions to fundamental challenges in sensor calibration, optimal sensor fusion, and real-time implementation, establishing a foundation for radio-based localization in diverse applications where reliability and precision are crucial.
■590 ▼aSchool code: 0078.
■650 4▼aSoftware
■650 4▼aComputer engineering
■650 4▼aElectrical engineering
■653 ▼aUltra-Wideband range sensing
■653 ▼aInertial measurements
■690 ▼a0544
■690 ▼a0464
■71020▼aGeorgia Institute of Technology.
■7730 ▼tDissertations Abstracts International▼g87-06B.
■790 ▼a0078
■791 ▼aPh.D.
■792 ▼a2025
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17360359▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
