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Limits on Cooperative Positioning for a Robotic Swarm with Time of Flight Ranging over Two-Ray Ground Reflection Channel

Staudinger, Emanuel und Pöhlmann, Robert und Dammann, Armin und Zhang, Siwei (2023) Limits on Cooperative Positioning for a Robotic Swarm with Time of Flight Ranging over Two-Ray Ground Reflection Channel. Electronics, 12 (9). Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/electronics12092139. ISSN 2079-9292.

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Offizielle URL: https://www.mdpi.com/2079-9292/12/9/2139

Kurzfassung

Autonomous robotic swarms are envisioned for a variety of applications -- from space exploration, search and rescue, to disaster management. An important capability of a robotic swarm is its ability to share information within the network, to sense spatio-temporal processes such as gas distributions, and to collaboratively enhance its navigation. In environments without infrastructure, the swarm-elements can cooperatively estimate their position, e.g. based on the time of flight of exchanged radio signals. Cooperative positioning performance depends on the radio propagation environment. Free-space path loss is commonly used for performance assessment, which is an optimistic assumption. In this work, we investigate the limits on cooperative positioning and ranging based on the time of flight of radio signals over the more realistic two-ray ground reflection channel. We show that we obtain a ranging bias caused by the radio signal component reflected from the ground, and that the ranging error becomes bias-limited. In the positioning domain, we investigate how the ranging bias affects cooperative positioning performance. As a result, we gain from cooperation, but the achievable positioning performance is significantly worsened by the ranging bias. As a conclusion, the two-ray ground reflection model should be considered, to obtain realistic cooperative positioning limits.

elib-URL des Eintrags:https://elib.dlr.de/194105/
Dokumentart:Zeitschriftenbeitrag
Titel:Limits on Cooperative Positioning for a Robotic Swarm with Time of Flight Ranging over Two-Ray Ground Reflection Channel
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Staudinger, EmanuelEmanuel.Staudinger (at) dlr.dehttps://orcid.org/0000-0002-9601-2887NICHT SPEZIFIZIERT
Pöhlmann, RobertRobert.Poehlmann (at) dlr.dehttps://orcid.org/0000-0001-7362-9406NICHT SPEZIFIZIERT
Dammann, ArminArmin.Dammann (at) dlr.dehttps://orcid.org/0000-0002-7112-1833NICHT SPEZIFIZIERT
Zhang, SiweiSiwei.Zhang (at) dlr.dehttps://orcid.org/0000-0003-4390-458XNICHT SPEZIFIZIERT
Datum:7 Mai 2023
Erschienen in:Electronics
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Ja
In SCOPUS:Ja
In ISI Web of Science:Ja
Band:12
DOI:10.3390/electronics12092139
Verlag:Multidisciplinary Digital Publishing Institute (MDPI)
Name der Reihe:MDPI Electronics
ISSN:2079-9292
Status:veröffentlicht
Stichwörter:Cooperative Positioning, Robotic Swarm, Signal Processing, CRLB, Lower Bounds, ML Estimation, Radio Channel, Channel Model, Swarm Navigation
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Kommunikation, Navigation, Quantentechnologien
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R KNQ - Kommunikation, Navigation, Quantentechnologie
DLR - Teilgebiet (Projekt, Vorhaben):R - Schwarmnavigation, R - Planetare Exploration
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Kommunikation und Navigation > Nachrichtensysteme
Hinterlegt von: Staudinger, Dr.-Ing. Emanuel
Hinterlegt am:05 Mai 2023 15:07
Letzte Änderung:01 Jun 2023 14:34

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