Abstract
Ultra-Wideband (UWB) technology has great potential to solve the cooperation and relative localization among near ground mobile robots in GPS-denied environments. Our goal is to build a computationally efficient near-ground field UWB channel model for facilitating realistic mobile robots network simulation and designing accurate relative positioning algorithm. In this paper, with considering the UWB multipath condition in very near-ground environment, field measurement with antenna height of 0 cm–20 cm, and signal frequency from 3 GHz to 8 GHz are conducted. The antenna height-dependent near-ground path loss channel model is put forward based on statistical computation and enhancement by introducing because the key near ground features such as diffraction loss due to obstruction of the first Fresnel zone. The proposed models comply with the logarithmic normal shadow path attenuation model, and there exists a logarithmic function relationship between the path loss parameter and the antenna height. The model is validated against several experimental datasets obtained in open and grassed areas. Correction of relative range between robots based on channel model is also confirmed to be effective.
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Duan, S., Si, J., He, J. (2019). Near Ground UWB Channel Modeling for Relative Localization. In: Shen, S., Qian, K., Yu, S., Wang, W. (eds) Wireless Sensor Networks. CWSN 2018. Communications in Computer and Information Science, vol 984. Springer, Singapore. https://doi.org/10.1007/978-981-13-6834-9_8
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DOI: https://doi.org/10.1007/978-981-13-6834-9_8
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