Novel Active-Passive Two-Way Ranging Protocols for UWB Positioning Systems
Taavi Laadung, Sander Ulp, Muhammad Mahtab Alam, Yannick Le Moullec
Abstract
This paper proposes two general active-passive two-way ranging (TWR) methods: AP1-TWR and AP2-TWR. The proposed methods rely on 2 types of anchors: active-passive and passive-only. The first type actively takes part in packet exchange and listens to transmissions of other active-passive anchors, and the second type only listens. Pairing these concepts with active single-sided (SS), symmetrical double-sided (SDS), and alternative double-sided (AltDS) TWR methods provides a total of six different active-passive methods. As a result of assigning different numbers of the two anchor types, the range estimation root-mean-square-error (RMSE), or the air time efficiency, or both, can be improved. Simulation results show that AP1-TWR surpasses the performance of the best active two-way ranging method by employing 10 active-passive anchors, while AP2-TWR surpasses the same mark with only 6 active-passive anchors. Further results validate and show that, compared to AP1-TWR, the AP2-TWR gives a relative improvement of range estimation RMSE about 10 to 20% in every configuration, making AP2-TWR the overall better performing method. Without a loss in the number of available range estimates, both methods could also increase the air time efficiency by keeping the number of active-passive anchors to a minimum while increasing the amount of passive anchors.