Fast Localization and Tracking in City-Scale UWB Networks

TL;DR

Locate3D is a fast, scalable localization system for city-scale UWB networks that combines range and angle data to significantly reduce latency and improve accuracy in large and small networks.

Contribution

The paper introduces Locate3D, a novel localization system that integrates angle-of-arrival data with range measurements, enabling faster and more accurate localization in large-scale networks.

Findings

Reduces latency by up to 75% compared to range-only methods.

Achieves median localization error of 10.2 meters in large networks.

Attains 0.5 meters accuracy in small networks.

Abstract

Localization of networked nodes is an essential problem in emerging applications, including first-responder navigation, automated manufacturing lines, vehicular and drone navigation, asset navigation and tracking, Internet of Things and 5G communication networks. In this paper, we present Locate3D, a novel system for peer-to-peer node localization and orientation estimation in large networks. Unlike traditional range-only methods, Locate3D introduces angle-of-arrival (AoA) data as an added network topology constraint. The system solves three key challenges: it uses angles to reduce the number of measurements required by 4x and jointly use range and angle data for location estimation. We develop a spanning-tree approach for fast location updates, and to ensure the output graphs are rigid and uniquely realizable, even in occluded or weakly connected areas. Locate3D cuts down latency by up to 75% without compromising accuracy, surpassing standard range-only solutions. It has a 10.2 meters median localization error for large-scale networks (30,000 nodes, 15 anchors spread across 14km square) and 0.5 meters for small-scale networks (10 nodes).