International Global Navigation Satellite Systems Association
IGNSS Conference 2016
Colombo Theatres, Kensington Campus, UNSW Australia
6 – 8 December 2016
Cooperative P2I localization using UWB and Wi-Fi
Salil Goel
Joint PhD Student (MIPP Scholar)
Department of Infrastructure Engineering,
The University of Melbourne, Australia
And
Department of Civil Engineering,
Indian Institute of Technology Kanpur, India
Ph: +61-0431740105,
Email: goel.salilg@gmail.com
Allison Kealy
Associate Professor
Department of Infrastructure Engineering,
The University of Melbourne, Australia
Email: a.kealy@unimelb.edu.au
Guenther Retscher
Associate Professor
Department of Geodesy and Geoinformation,
TU Wien, Vienna, Austria
Email: guenther.retscher@tuwien.ac.at
Bharat Lohani
Professor
Department of Civil Engineering,
Indian Institute of Technology Kanpur, India
Email: blohani@iitk.ac.in
ABSTRACT
A Peer to Infrastructure (P2I) cooperative localization system makes use of
existing infrastructure network for localization of mobile platforms. This
interconnected network can be utilized for several applications besides
communication such as disaster management, situational awareness, search
and rescue, guided navigation, Cooperative Intelligent Transport System etc.
The focus of this paper is development and analysis of a localization system
using a well-established infrastructure network. This paper develops
methods of localization of dynamic platforms such as Unmanned Aerial
Vehicles (UAV) equipped with GNSS, inertial sensors (INS), ultra-wide
band (UWB) and wireless local area network (Wi-Fi) receivers. Traditional
platforms (cars, UAVs etc.) rely on GNSS for accurate localization and thus
cannot be used in indoor environments or other GNSS challenging regions.
This paper leverages continuously deployed networks of urban infrastructure
that provide signals of opportunity such as Wi-Fi, as well as UWB to
develop a robust localization system which is capable of providing a
continuous and seamless position solution in both indoor and outdoor
environments. This paper also provides an analysis of this localization
system using numerical simulations and discusses experimental results of a
