Full metadata
Title
Precision Navigation using Two-Way Ranging: Bounds and Performance
Description
Localization tasks using two-way ranging (TWR) are making headway in modern daynavigation applications as an alternative to legacy global navigation satellite systems
(GNSS) such as GPS. There is not currently literature that provides a closed-form
expression for estimation performance bounds on position and attitude when a TWR
system is employed. A Cramer-Rao Lower Bounds (CRLB) is derived for position
and orientation estimation using both 2-D and 3-D geometries. A literature review is
performed to give background and detail on the tools needed for a thorough analysis of
this problem. Popular Least Squares techniques and solutions to Wahba’s problem are
compared to the derived bounds as proof of correctness using Monte Carlo simulations.
A brief exploration on estimation performance using an Extended Kalman Filter for
non-stationary users is also looked at as an introduction to future extensions to this
work. The literature Applications like the CHP2 system are discussed as well to show
how secure, inexpensive and robust implementation of TWR is highly feasible.
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Date Created
2022
Contributors
- Welker, Samuel (Author)
- Bliss, Daniel (Thesis advisor)
- Herschfelt, Andrew (Committee member)
- Tsakalis, Konstantinos (Committee member)
- Arizona State University (Publisher)
Topical Subject
Resource Type
Extent
82 pages
Language
eng
Copyright Statement
In Copyright
Primary Member of
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.2.N.168693
Level of coding
minimal
Cataloging Standards
Note
Partial requirement for: M.S., Arizona State University, 2022
Field of study: Electrical Engineering
System Created
- 2022-08-22 06:14:41
System Modified
- 2022-08-22 06:15:06
- 2 years 3 months ago
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