论文标题
超宽带并发范围
Ultra-wideband Concurrent Ranging
论文作者
论文摘要
我们提出了一种新型的并发范围技术，用于使用超宽带（UWB）收音机进行距离估计。常规方案假定必要的数据包交换是孤立发生的，以避免碰撞。并发范围依赖于附近响应者的答复与发起者节点发出的相同范围请求的重叠。由于UWB传输依赖于短脉冲，可以通过检查发起者收发器的通道脉冲响应（CIR）来区分各个到达的时间。通过与n个响应者进行单一并发交换的范围，我们的技术大大减少了网络开销，从而使较高的范围频率较低，能源消耗较低和能源消耗W.R.T.常规方案。 可以通过稻草人的方法实现并发范围，需要对标准方案进行最小的更改。然而，我们从经验上表明，这限制了可实现的准确性，可靠性以及因此适用性。我们确定在没有专用硬件的情况下实现并发范围的主要挑战，并通过基于流行的DW1000收发器来贡献多种技术来解决这些技术，这些技术在我们的原型中用于协同作用。我们的评估具有静态目标和移动机器人，证实并发可靠地达到了分解值级别的距离和位置精度，可与传统方案相当，但以网络和能源成本的一小部分相当。
We propose a novel concurrent ranging technique for distance estimation with ultra-wideband (UWB) radios. Conventional schemes assume that the necessary packet exchanges occur in isolation, to avoid collisions. Concurrent ranging relies on the overlapping of replies from nearby responders to the same ranging request issued by an initiator node. As UWB transmissions rely on short pulses, the individual times of arrival can be discriminated by examining the channel impulse response (CIR) of the initiator transceiver. By ranging against N responders with a single, concurrent exchange, our technique drastically abates network overhead, enabling higher ranging frequency with lower latency and energy consumption w.r.t. conventional schemes. Concurrent ranging can be implemented with a strawman approach requiring minimal changes to standard schemes. Nevertheless, we empirically show that this limits the attainable accuracy, reliability, and therefore applicability. We identify the main challenges in realizing concurrent ranging without dedicated hardware and tackle them by contributing several techniques, used in synergy in our prototype based on the popular DW1000 transceiver. Our evaluation, with static targets and a mobile robot, confirms that concurrent ranging reliably achieves decimeter-level distance and position accuracy, comparable to conventional schemes but at a fraction of the network and energy cost.
