{"id":"https://openalex.org/W3013435333","doi":"https://doi.org/10.1109/wpnc47567.2019.8970249","title":"A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data","display_name":"A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3013435333","doi":"https://doi.org/10.1109/wpnc47567.2019.8970249","mag":"3013435333"},"language":"en","primary_location":{"id":"doi:10.1109/wpnc47567.2019.8970249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wpnc47567.2019.8970249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 16th Workshop on Positioning, Navigation and Communications (WPNC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://nbn-resolving.org/urn:nbn:de:0070-pub-29375054","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023520444","display_name":"Cung Lian Sang","orcid":"https://orcid.org/0000-0002-6144-9544"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Cung Lian Sang","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060845978","display_name":"Michael Adams","orcid":"https://orcid.org/0000-0002-4986-3654"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Adams","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071906667","display_name":"Marc Hesse","orcid":"https://orcid.org/0000-0002-9500-3284"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Hesse","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020066947","display_name":"Timm H\u00f6rmann","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timm Hormann","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078472174","display_name":"Timo Korthals","orcid":"https://orcid.org/0000-0003-4297-7197"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timo Korthals","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043372144","display_name":"Ulrich R\u00fcckert","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ulrich Ruckert","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group CITEC, Bielefeld Univeristy, Bielefeld, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5023520444"],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":null,"apc_paid":null,"fwci":0.3577,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.63056533,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12024","display_name":"Ultra-Wideband Communications Technology","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trilateration","display_name":"Trilateration","score":0.9721443057060242},{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.9369505643844604},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.7475191354751587},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6934725642204285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6207482218742371},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6084145903587341},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6011626124382019},{"id":"https://openalex.org/keywords/taylor-series","display_name":"Taylor series","score":0.5679265260696411},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2715170383453369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15987727046012878},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11205661296844482}],"concepts":[{"id":"https://openalex.org/C20832178","wikidata":"https://www.wikidata.org/wiki/Q1146298","display_name":"Trilateration","level":3,"score":0.9721443057060242},{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.9369505643844604},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.7475191354751587},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6934725642204285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6207482218742371},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6084145903587341},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6011626124382019},{"id":"https://openalex.org/C158946198","wikidata":"https://www.wikidata.org/wiki/Q131187","display_name":"Taylor series","level":2,"score":0.5679265260696411},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2715170383453369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15987727046012878},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11205661296844482},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/wpnc47567.2019.8970249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wpnc47567.2019.8970249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 16th Workshop on Positioning, Navigation and Communications (WPNC)","raw_type":"proceedings-article"},{"id":"pmh:oai:pub.uni-bielefeld.de:2937505","is_oa":true,"landing_page_url":"https://nbn-resolving.org/urn:nbn:de:0070-pub-29375054","pdf_url":null,"source":{"id":"https://openalex.org/S4306401670","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"http://purl.org/coar/resource_type/c_5794"}],"best_oa_location":{"id":"pmh:oai:pub.uni-bielefeld.de:2937505","is_oa":true,"landing_page_url":"https://nbn-resolving.org/urn:nbn:de:0070-pub-29375054","pdf_url":null,"source":{"id":"https://openalex.org/S4306401670","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"http://purl.org/coar/resource_type/c_5794"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1500564636","https://openalex.org/W1542648184","https://openalex.org/W1749494163","https://openalex.org/W1988966058","https://openalex.org/W2002455951","https://openalex.org/W2018416248","https://openalex.org/W2020934227","https://openalex.org/W2133874683","https://openalex.org/W2136713662","https://openalex.org/W2143963034","https://openalex.org/W2154347068","https://openalex.org/W2156116332","https://openalex.org/W2238582461","https://openalex.org/W2402514617","https://openalex.org/W2540041638","https://openalex.org/W2884310543","https://openalex.org/W2912099408","https://openalex.org/W2975461012","https://openalex.org/W2980997237","https://openalex.org/W2989876454","https://openalex.org/W6681158678","https://openalex.org/W6729210514"],"related_works":["https://openalex.org/W1970524074","https://openalex.org/W2995924631","https://openalex.org/W4287993193","https://openalex.org/W2910126301","https://openalex.org/W4387757182","https://openalex.org/W4312068750","https://openalex.org/W3016046519","https://openalex.org/W1921418770","https://openalex.org/W1518615515","https://openalex.org/W2031629895"],"abstract_inverted_index":{"In":[0,57],"this":[1],"paper,":[2],"we":[3],"analyze":[4],"five":[5,117],"true-range":[6,91],"positioning":[7],"algorithms":[8,15,82,118],"for":[9,86],"UWB-based":[10],"localization":[11],"systems.":[12],"The":[13,80,112],"evaluated":[14,81],"are:":[16],"(i)":[17],"trilateration":[18],"using":[19,28,35],"a":[20,24,39,87,90],"geometric":[21],"method,":[22],"(ii)":[23],"closed-form":[25],"multilateration":[26,92],"solution":[27,41],"least":[29],"squares,":[30],"(iii)":[31],"an":[32],"iterative":[33],"approach":[34],"first-order":[36],"Taylor":[37],"series,":[38],"recursive":[40],"based":[42,69,76],"on":[43,70,77],"(iv)":[44],"the":[45,52,60,98,101,108,116,124],"Extended":[46],"Kalman":[47,54],"Filter":[48,55],"(EKF),":[49],"and":[50,121],"(v)":[51],"Unscented":[53],"(UKF).":[56],"contrast":[58],"to":[59],"existing":[61],"comparative":[62],"studies":[63],"in":[64,123],"literature,":[65],"which":[66],"are":[67,83],"solely":[68],"simulation":[71],"results,":[72],"our":[73],"analysis":[74],"is":[75,94,104,119],"experimental":[78],"evaluations.":[79],"strictly":[84],"chosen":[85],"scenario,":[88],"where":[89],"method":[93],"applicable.":[95],"True-range":[96],"means":[97],"accuracy":[99],"of":[100,115],"measured":[102],"ranges":[103],"not":[105],"influenced":[106],"by":[107],"clock":[109],"drift":[110],"errors.":[111],"performance":[113],"comparison":[114],"examined":[120],"discussed":[122],"paper.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":9},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}