Ultra-Wideband Methods for UGV Positioning: Experimental and Simulation Results

Abstract : U.S. Army RDECOM-TARDEC, in collaboration with Oakland University and JADI Inc., is currently conducting novel research devoted to obtain fine-grain (centimeter accuracy) indoor positioning for unmanned ground vehicle (UGV) navigation applications using Ultra-Wideband (UWB) technologies. This paper will present recent results from advanced closed-form solutions and analyses for positioning errors, and compare them to experimental results and Cramer-Rao bounds. Agreement among the calculated and experiment standard deviations confirms validity of the techniques and lays a basis for tuning and optimizing solutions for estimating positions of unmanned ground vehicles.