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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 and Pöhlmann, Robert and Dammann, Armin and 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.

[img] PDF - Preprint version (submitted draft)

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


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.

Item URL in elib:https://elib.dlr.de/194105/
Document Type:Article
Title:Limits on Cooperative Positioning for a Robotic Swarm with Time of Flight Ranging over Two-Ray Ground Reflection Channel
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Staudinger, EmanuelUNSPECIFIEDhttps://orcid.org/0000-0002-9601-2887UNSPECIFIED
Pöhlmann, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-7362-9406UNSPECIFIED
Dammann, ArminUNSPECIFIEDhttps://orcid.org/0000-0002-7112-1833UNSPECIFIED
Zhang, SiweiUNSPECIFIEDhttps://orcid.org/0000-0003-4390-458XUNSPECIFIED
Date:7 May 2023
Journal or Publication Title:Electronics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Series Name:MDPI Electronics
Keywords:Cooperative Positioning, Robotic Swarm, Signal Processing, CRLB, Lower Bounds, ML Estimation, Radio Channel, Channel Model, Swarm Navigation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication, Navigation, Quantum Technology
DLR - Research area:Raumfahrt
DLR - Program:R KNQ - Communication, Navigation, Quantum Technology
DLR - Research theme (Project):R - Swarm navigation, R - Planetary Exploration
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Staudinger, Dr.-Ing. Emanuel
Deposited On:05 May 2023 15:07
Last Modified:01 Jun 2023 14:34

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