WP4-17 - Revision history

Acorde: /* Contributions */

2023-03-14T12:26:53Z

Contributions

← Older revision		Revision as of 12:26, 14 March 2023
Line 54:		Line 54:
	They can be sum up as follows:		They can be sum up as follows:

	* ~~A first version of~~ CCM ~~in place~~		* Service for local and remote control, configuration and monitoring (CCM)
	* Selection and implementation of development of a TWR ranging scheme		* Selection and implementation of development of a TWR ranging scheme
	* Development of two versions of positioning algorithms		* Development of two versions of positioning algorithms
	* Service for local and remote control, configuration and monitoring (CCM)

	==Validation==		==Validation==

Acorde: /* Validation */

2023-03-14T12:25:51Z

Validation

← Older revision		Revision as of 12:25, 14 March 2023
Line 101:		Line 101:
	With regard geo-positioning algorityms, by the formal end of the project they have been mostly tested by realying on IPS-MAF platform.		With regard geo-positioning algorityms, by the formal end of the project they have been mostly tested by realying on IPS-MAF platform.
	It has served to realise the high dependency with the morphology and density of the anchor deployment, and on the base range accuracy.		It has served to realise the high dependency with the morphology and density of the anchor deployment, and on the base range accuracy.
			A good example is what has been observed with autopositioning.
			In the ACORDE IPS solution, autopositioning is a feature which enables anchors inside the tunnel to compute their own position from external or already positioned anchors.
			On Y axis, the positioning error is shown along time (x axis).

			In the figure below, each coloured graph line corresponds to the autopositioning error of one anchor for a naive deployment and using version 2 of anchors functionality.
			In such deployment, there are three static external anchors, whose autopositionin errors correspond to he three 'foreground' in the graph.
			These external anchor are lmost perfectly positioned from the beginning. Figure shows the progressive autopositioning of the inner anchors.
			The deeper the anchor (lines behind in the graph) the later the first autopositioning.

	<gallery widths=600px heights=600px >		<gallery widths=600px heights=600px >
Line 107:		Line 115:
	</gallery>		</gallery>

	~~For instance~~, figure above shows how the auto-positioning feature ~~of the anchors~~ is impacted when realistic error range errors are considered~~, using version 2 of anchors functionality.~~		Moreover, the figure also shows other expected effects, like growing errors with the depth in the tunnel.
	~~In the ACORDE IPS solution, autopositioning is a feature which enables anchors inside the tunnel to compute their own position from external or already positioned anchors.~~		More remarkably, the figure above also shows how the auto-positioning feature is impacted when realistic error range errors are considered.
	~~On Y axis, the positioning error is shown along time (x axis). In this figure, each coloured graph line correspondd to the error of one anchor in a deployment were the three former (foreground)~~
	~~lines corresponde to external anchors (almost perfectly positioned from the beginning). What figure shows is the progressive autopositioning of anchors along time (the deeper the later).~~
	~~Moreover, it also shows some growing errors with the depth in the tunnel, specially in the former times (while not all the anchors are available for autopositioning)~~.

Acorde: /* Validation */

2023-03-14T12:16:06Z

Validation

← Older revision		Revision as of 12:16, 14 March 2023
Line 102:		Line 102:
	It has served to realise the high dependency with the morphology and density of the anchor deployment, and on the base range accuracy.		It has served to realise the high dependency with the morphology and density of the anchor deployment, and on the base range accuracy.

	<gallery widths=~~400px~~ heights=~~400px~~ >		<gallery widths=600px heights=600px >
	File: wp4_17_autopositioning_error0.png \| ideal ranging conditions		File: wp4_17_autopositioning_error0.png \| ideal ranging conditions
	File: wp4_17_autopositioning_error.png \| realistic ranging errors (5cm)		File: wp4_17_autopositioning_error.png \| realistic ranging errors (5cm)

Acorde: /* Validation */

2023-03-14T12:14:46Z

Validation

← Older revision		Revision as of 12:14, 14 March 2023
Line 102:		Line 102:
	It has served to realise the high dependency with the morphology and density of the anchor deployment, and on the base range accuracy.		It has served to realise the high dependency with the morphology and density of the anchor deployment, and on the base range accuracy.

	<gallery widths=~~300px~~ heights=~~200px~~ >		<gallery widths=400px heights=400px >
	File: ~~wp4_17_autopositioning_error~~.png \| ideal ranging conditions		File: wp4_17_autopositioning_error0.png \| ideal ranging conditions
	File: ~~wp4_17_rg2~~.png \| realistic ranging errors (5cm)		File: wp4_17_autopositioning_error.png \| realistic ranging errors (5cm)
	</gallery>		</gallery>

Acorde: /* Validation */

2023-03-14T12:14:10Z

Validation

← Older revision		Revision as of 12:14, 14 March 2023
Line 100:		Line 100:

	With regard geo-positioning algorityms, by the formal end of the project they have been mostly tested by realying on IPS-MAF platform.		With regard geo-positioning algorityms, by the formal end of the project they have been mostly tested by realying on IPS-MAF platform.
	It has served to realise the high dependency with the ~~morophology~~ and density of the ~~anchors~~, and on the base range accuracy.		It has served to realise the high dependency with the morphology and density of the anchor deployment, and on the base range accuracy.

	[[File:wp4_17_autopositioning_error.png\|~~frame~~\|~~center\|Autopositioning~~ error ~~for v2~~ anchors functionality for ~~realistic ranging errors]]~~		<gallery widths=300px heights=200px >
			File: wp4_17_autopositioning_error.png \| ideal ranging conditions
			File: wp4_17_rg2.png \| realistic ranging errors (5cm)
			</gallery>

			For instance, figure above shows how the auto-positioning feature of the anchors is impacted when realistic error range errors are considered, using version 2 of anchors functionality.
			In the ACORDE IPS solution, autopositioning is a feature which enables anchors inside the tunnel to compute their own position from external or already positioned anchors.
			On Y axis, the positioning error is shown along time (x axis). In this figure, each coloured graph line correspondd to the error of one anchor in a deployment were the three former (foreground)
			lines corresponde to external anchors (almost perfectly positioned from the beginning). What figure shows is the progressive autopositioning of anchors along time (the deeper the later).
			Moreover, it also shows some growing errors with the depth in the tunnel, specially in the former times (while not all the anchors are available for autopositioning).

Acorde: /* Validation */

2023-03-14T12:02:54Z

Validation

← Older revision		Revision as of 12:02, 14 March 2023
Line 102:		Line 102:
	It has served to realise the high dependency with the morophology and density of the anchors, and on the base range accuracy.		It has served to realise the high dependency with the morophology and density of the anchors, and on the base range accuracy.

	[[File:~~wp4-17_autopositioning_error~~.png\|frame\|center\|Autopositioning error for v2 anchors functionality for realistic ranging errors]]		[[File:wp4_17_autopositioning_error.png\|frame\|center\|Autopositioning error for v2 anchors functionality for realistic ranging errors]]

Acorde: /* Validation */

2023-03-14T12:02:10Z

Validation

← Older revision		Revision as of 12:02, 14 March 2023
Line 101:		Line 101:
	With regard geo-positioning algorityms, by the formal end of the project they have been mostly tested by realying on IPS-MAF platform.		With regard geo-positioning algorityms, by the formal end of the project they have been mostly tested by realying on IPS-MAF platform.
	It has served to realise the high dependency with the morophology and density of the anchors, and on the base range accuracy.		It has served to realise the high dependency with the morophology and density of the anchors, and on the base range accuracy.

			[[File:wp4-17_autopositioning_error.png\|frame\|center\|Autopositioning error for v2 anchors functionality for realistic ranging errors]]

Acorde: /* Validation */

2023-03-14T11:59:28Z

Validation

Acorde: /* Validation */

2023-03-14T11:58:27Z

Validation

← Older revision		Revision as of 11:58, 14 March 2023
Line 95:		Line 95:
	and also laser meters (i.e., outdoor experiments were indeed used to observed limitations of the used laser meters).		and also laser meters (i.e., outdoor experiments were indeed used to observed limitations of the used laser meters).

	[[File:~~wp4-17_oudoor_meas~~.png\|frame\|center\|An example of remote configuration, control and monitoring (CCM) of an UWB node of the ACORDE IPS]]		[[File:wp4_17_oudoor_meas.png\|frame\|center\|An example of remote configuration, control and monitoring (CCM) of an UWB node of the ACORDE IPS]]

	In all the experiments reported the cm-level error was confirmed, being the std error below 15cm in all experiments (including the original ones with the evaluation kit hw platform and others without final calibration). Las indoor experiment (for distances between 4m and 15m) yield maximum 1.7cm std error, and 10.1cm maximum RMSE.		In all the experiments reported the cm-level error was confirmed, being the std error below 15cm in all experiments (including the original ones with the evaluation kit hw platform and others without final calibration). Las indoor experiment (for distances between 4m and 15m) yield maximum 1.7cm std error, and 10.1cm maximum RMSE.

Acorde: /* Validation */

2023-03-14T11:57:52Z

Validation

← Older revision		Revision as of 11:57, 14 March 2023
Line 91:		Line 91:
	Therefore, the selection of the proper formulation ('formula1') is critical for error free range estimations.		Therefore, the selection of the proper formulation ('formula1') is critical for error free range estimations.

	(~~TBC~~: ~~comments~~ on ~~positioning algorithms)~~		Furthermore, several indoor and outdoor physical set ups for range maximum range and accuracy estimation were set up.
			Following figure shows on of the outdoor set ups. For those set ups, two different ground truth references where used, namely RTK measurements (as shown on the right part),
			and also laser meters (i.e., outdoor experiments were indeed used to observed limitations of the used laser meters).

			[[File:wp4-17_oudoor_meas.png\|frame\|center\|An example of remote configuration, control and monitoring (CCM) of an UWB node of the ACORDE IPS]]

			In all the experiments reported the cm-level error was confirmed, being the std error below 15cm in all experiments (including the original ones with the evaluation kit hw platform and others without final calibration). Las indoor experiment (for distances between 4m and 15m) yield maximum 1.7cm std error, and 10.1cm maximum RMSE.

			With regard geo-positioning algorityms, by the formal end of the project they have been mostly tested by realying on IPS-MAF platform.
			It has served to realise the high dependency with the morophology and density of the anchors, and on the base range accuracy.

← Older revision		Revision as of 11:59, 14 March 2023
Line 75:		Line 75:
	a) an ideal case: Δfi=0, Δfr=0, Δt_{reply}=0		a) an ideal case: Δfi=0, Δfr=0, Δt_{reply}=0
	b) average crystal frequency drifts crystal and minor reply time unbalance: Δfi=50PPM, Δfr=-50PPM, Δtreply=10µs		b) average crystal frequency drifts crystal and minor reply time unbalance: Δfi=50PPM, Δfr=-50PPM, Δtreply=10µs
	c) average crystal frequency drifts crystal and feasible unbalance : Δfi=50PPM, Δfr=-50PPM, Δtreply=100µs		c) average crystal frequency drifts crystal and feasible unbalance: Δfi=50PPM, Δfr=-50PPM, Δtreply=100µs
	d) average TCXO frequency drifts crystal and feasible unbalance : Δfi=4PPM, Δfr=-4PPM, Δtreply=100µs		d) average TCXO frequency drifts crystal and feasible unbalance: Δfi=4PPM, Δfr=-4PPM, Δtreply=100µs

	<gallery widths=300px heights=200px >		<gallery widths=300px heights=200px >
Line 88:		Line 88:
	The b) scenario shows that for an averave drift on a platform with crystal clocks, a minor reply time unbalance, will already mean a significant range error (0.5m at 10mm distance) for 'formula2'.		The b) scenario shows that for an averave drift on a platform with crystal clocks, a minor reply time unbalance, will already mean a significant range error (0.5m at 10mm distance) for 'formula2'.
	The c) scenario shows that considering a further, but quite feasible unbalance (100us), the error at 100m becomes 5m, yet 0.5m for 10m for 'formula2'.		The c) scenario shows that considering a further, but quite feasible unbalance (100us), the error at 100m becomes 5m, yet 0.5m for 10m for 'formula2'.
	Then, c) scenario shows that even under consideration of some already provided platform inprovements (TCXO clock), the aforementioned error magnitude for 'formula2' holds, while 'formula1' remains insensitive.		Then, d) scenario shows that even under consideration of some already provided platform inprovements (TCXO clock), the aforementioned error magnitude for 'formula2' holds, while 'formula1' remains insensitive.
	Therefore, the selection of the proper formulation ('formula1') is critical for error free range estimations.		Therefore, the selection of the proper formulation ('formula1') is critical for error free range estimations.

Line 95:		Line 95:
	and also laser meters (i.e., outdoor experiments were indeed used to observed limitations of the used laser meters).		and also laser meters (i.e., outdoor experiments were indeed used to observed limitations of the used laser meters).

	[[File:~~wp4_17_oudoor_meas~~.png\|frame\|center\|An example of remote configuration, control and monitoring (CCM) of an UWB node of the ACORDE IPS]]		[[File:wp4_17_outdoor_meas.png\|frame\|center\|An example of remote configuration, control and monitoring (CCM) of an UWB node of the ACORDE IPS]]

	In all the experiments reported the cm-level error was confirmed, being the std error below 15cm in all experiments (including the original ones with the evaluation kit hw platform and others without final calibration). Las indoor experiment (for distances between 4m and 15m) yield maximum 1.7cm std error, and 10.1cm maximum RMSE.		In all the experiments reported the cm-level error was confirmed, being the std error below 15cm in all experiments (including the original ones with the evaluation kit hw platform and others without final calibration). Las indoor experiment (for distances between 4m and 15m) yield maximum 1.7cm std error, and 10.1cm maximum RMSE.