Uwb Odometry For Relative Navigation In Gps And Compass-Denied Environment

In this paper, we introduce a six-node odometry technique for localization and navigation using Ultra-wideband (UWB) radios in areas with poor Global Positioning System (GPS) signal and compass reading. The aim of this odometry is to navigate users from a starting known location effectively and accurately to a target location in an unknown area without the use of conventional methods such as navigation with a compass and map. Based on our experiments conducted, we are able to achieve not more than 0.1% position error using the proposed UWB odometry method. This technique does not require GPS, compass, or landmarks references for relative navigation, and the six nodes are self-localizing each other with four nodes set to beacon mode and two nodes set to mobile mode at any one time. In addition, this paper also presents the relative localization algorithm with integrated mobile real-time control and monitoring ground control station (GCS). It is useful for robust command and control of all nodes to suit for different environment. The proposed algorithm was also demonstrated at Eastwood MetroPark, Dayton in September 2016.