2-D relative position and attitude determination for land vehicles using multiple UWB ranges
department or school: Applied Science, Faculty of
department or school: Engineering, School of (Okanagan)
data provider: DSpace
degree campus: UBCO
creator: Ghanem, Ehab M.
issued: 2021-09-03T22:29:17Z
issued: 2021
related degree: Doctor of Philosophy - PhD
degree grantor: University of British Columbia
description: Positioning technologies that are available today are used to enhance position estimation for the goal of providing fully autonomous vehicles. Currently, positioning technologies, such as GNSS, INS, LIDAR, etc., often have complementary strengths and limitations. Consequently, they are often used together, or fused, to provide a more reliable and/or more accurate position estimate. These positioning technologies have been extensively studied to characterize their strengths and limitations. However, UWB ranging has not been fully investigated in the context of relative position and attitude estimation between moving vehicles. This thesis provides an extensive characterization of an UWB-only system that can be used to estimate the relative position and attitude of one vehicle with respect to another while the two vehicles are executing various maneuvers while driving on streets. The UWB system designed, developed and tested, can provide a relative horizontal position estimate with a mean error of approximately 1 m, and a relative attitude accuracy of 6 Degrees or better. The system is able to operate at distances up to 80 m between the two vehicles.
aggregated CHO: https://circle.library.ubc.ca/rest/handle/2429/79650
note: 2-D Relative Position and AttitudeDetermination for Land Vehicles usingMultiple UWB RangesbyEhab M. GhanemB.Sc., Arab Academy for Science and Technology, 2006M.Sc., Arab Academy for Science and Technology, 2012A THESIS SUBMITTED IN PARTIAL FULFILLMENT OFTHE REQUIREMENTS FOR THE DEGREE OFDOCTOR OF PHILOSOPHYinTHE COLLEGE OF GRADUATE STUDIES(Electrical Engineering)THE UNIVERSITY OF BRITISH COLUMBIA(Okanagan)August 2021© Ehab M. Ghanem, 2021The following individuals certify that they have read, and recommendto the College of Graduate Studies for acceptance, a thesis/dissertation en-titled:2-D Relative Position and Attitude Determination for LandVehicles using Multiple UWB Rangessubmitted by Ehab M. Ghanem in partial fulfillment of the requirementsof the degree of Doctor of PhilosophyDr. Richard Klukas, School of EngineeringSupervisorDr. Kyle O’Keefe, Schulich School of Engineering, University of CalgarySupervisorDr. Jonathan F. Holzman, School of EngineeringSupervisory Committee MemberDr. Lo¨ıc Markley, School of EngineeringSupervisory Committee MemberDr. Yang Cao, School of EngineeringUniversity ExaminerDr. Georgia Fotopoulos, Geological Science and Engineering, Queen’s UniversityExternal ExamineriiAbstractPositioning technologies that are available today are used to enhance po-sition estimation for the goal of providing fully autonomous vehicles. Cur-rently, positioning technologies, such as GNSS, INS, LIDAR, etc., often havecomplementary strengths and limitations. Consequently, they are often usedtogether, or fused, to provide a more reliable and/or more accurate positionestimate. These positioning technologies have been extensively studied tocharacterize their strengths and limitations. However, UWB ranging hasnot been fully investigated in the context of relative position and attitudeestimation between moving vehicles. This thesis provides an extensive char-acterization of an UWB-only system that can be used to estimate the rela-tive position and attitude of one v…
has type: Thesis/Dissertation
date issued: 2021-09
is shown at: 10.14288/1.0401917
language: eng
degree discipline: Electrical Engineering
provider: Vancouver : University of British Columbia Library
publisher: University of British Columbia
rights: Attribution-NonCommercial-NoDerivatives 4.0 International
rights URI: http://creativecommons.org/licenses/by-nc-nd/4.0/
scholar level: Graduate
contributor: Klukas, Richard
contributor: O'Keefe, Kyle
type: Text
identifier URI: http://hdl.handle.net/2429/79650