{"id":2109,"date":"2026-10-27T11:19:40","date_gmt":"2026-10-27T10:19:40","guid":{"rendered":"https:\/\/au.feri.um.si\/losdv\/projekti\/uwb-lokalizacija\/"},"modified":"2026-10-27T12:05:19","modified_gmt":"2026-10-27T11:05:19","slug":"uwb-lokalizacija","status":"publish","type":"page","link":"https:\/\/au.feri.um.si\/losdv\/en\/projekti\/uwb-lokalizacija\/","title":{"rendered":"Localisation with ultra-wideband radio"},"content":{"rendered":"<section class=\"wp-block-group alignfull au-section au-section--dark au-projhero is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-group au-container is-layout-flow wp-block-group-is-layout-flow\">\n<p class=\"au-back wp-block-paragraph\"><a href=\"\/losdv\/en\/#iz-nasega-dela\">\u2190 Projects and theses<\/a><\/p>\n\n\n<p class=\"au-eyebrow wp-block-paragraph\">01.11 \u00b7 Master's thesis<\/p>\n\n\n<h1 class=\"wp-block-heading\">Localisation with ultra-wideband radio<\/h1>\n\n\n<p class=\"au-lead wp-block-paragraph\">The position of a node is determined from the time of flight of ultra-wideband (UWB) radio signals to fixed anchor points \u2013 even indoors, where GPS does not work.<\/p>\n\n\n<div class=\"anim-box\">\n      <canvas id=\"anim\" aria-label=\"Animation: a robot drives around a field between four anchors. UWB pulses measure the distances to the anchors, the circles of these distances intersect at the robot&#039;s position, and the WLS algorithm computes the position estimate and draws its track.\"><\/canvas>\n      <div class=\"anim-cap mono\"><span>Illustration \u00b7 distances to anchors \u2192 position estimate with WLS<\/span><button class=\"anim-toggle\" type=\"button\">Stop<\/button><\/div>\n    <\/div>\n<\/div>\n<\/section>\n\n\n\n<section class=\"wp-block-group alignfull au-section is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-group au-container is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-columns au-projbody is-layout-flex wp-container-core-columns-is-layout-89c98654 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:60%\">\n<h2 class=\"wp-block-heading\">About the project<\/h2>\n\n\n<p class=\"wp-block-paragraph\">The position of a node is determined from the time of flight of ultra-wideband (UWB) radio signals to fixed anchor points \u2013 even indoors, where GPS does not work.<\/p>\n\n\n<p class=\"wp-block-paragraph\">Ultra-wideband radio transmits very short pulses, so the receiver can determine their time of arrival very precisely. From the signal's time of flight we get the distance to each anchor. With the distances to several anchors, the robot's position is found as the intersection of circles around the anchors.<\/p>\n\n\n<h2 class=\"wp-block-heading\">How it works<\/h2>\n\n\n<ol class=\"wp-block-list au-steps\">\n<li><strong>The anchors<\/strong> are placed at known, fixed positions around the driving area.<\/li>\n\n\n<li><strong>Distance measurement<\/strong>: the node on the robot uses UWB pulses to measure the time of flight to each anchor and converts it into a distance.<\/li>\n\n\n<li><strong>WLS<\/strong> (weighted least squares) computes from all the distances the position that best fits the measurements; more reliable measurements get a larger weight.<\/li>\n\n\n<li><strong>Filtering<\/strong>: the video also shows calibration and the EKF and UKF filters, which smooth the sequence of estimates while driving.<\/li>\n<\/ol>\n<\/div>\n\n\n<div class=\"wp-block-column au-facts is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:40%\">\n<figure class=\"wp-block-table au-facts__table\"><table class=\"has-fixed-layout\"><tbody><tr><td>Type<\/td><td>Master's thesis<\/td><\/tr><tr><td>Field<\/td><td>Remote control \u00b7 Navigation<\/td><\/tr><tr><td>Technology<\/td><td>Ultra-wideband radio (UWB)<\/td><\/tr><tr><td>Measurement<\/td><td>Time of flight of the signal to the anchor points<\/td><\/tr><tr><td>Position estimate<\/td><td>WLS, EKF and UKF filters<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n<figure data-wp-context=\"{&quot;imageId&quot;:&quot;6aef851d3c64a&quot;}\" data-wp-interactive=\"core\/image\" data-wp-key=\"6aef851d3c64a\" class=\"wp-block-image size-full wp-lightbox-container\"><img decoding=\"async\" data-wp-class--hide=\"state.isContentHidden\" data-wp-class--show=\"state.isContentVisible\" data-wp-init=\"callbacks.setButtonStyles\" data-wp-on--click=\"actions.showLightbox\" data-wp-on--load=\"callbacks.setButtonStyles\" data-wp-on--pointerdown=\"actions.preloadImage\" data-wp-on--pointerenter=\"actions.preloadImageWithDelay\" data-wp-on--pointerleave=\"actions.cancelPreload\" data-wp-on-window--resize=\"callbacks.setButtonStyles\" src=\"\/losdv\/wp-content\/uploads\/sites\/4\/2026\/10\/UWB_navigacija.png\" alt=\"Mobilni robot na igri\u0161\u010du in prikaz polo\u017eaja robota ter sider v programu za navigacijo\"\/><button\n\t\t\tclass=\"lightbox-trigger\"\n\t\t\ttype=\"button\"\n\t\t\taria-haspopup=\"dialog\"\n\t\t\tdata-wp-bind--aria-label=\"state.thisImage.triggerButtonAriaLabel\"\n\t\t\tdata-wp-init=\"callbacks.initTriggerButton\"\n\t\t\tdata-wp-on--click=\"actions.showLightbox\"\n\t\t\tdata-wp-style--right=\"state.thisImage.buttonRight\"\n\t\t\tdata-wp-style--top=\"state.thisImage.buttonTop\"\n\t\t>\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"12\" height=\"12\" fill=\"none\" viewbox=\"0 0 12 12\">\n\t\t\t\t<path fill=\"#fff\" d=\"M2 0a2 2 0 0 0-2 2v2h1.5V2a.5.5 0 0 1 .5-.5h2V0H2Zm2 10.5H2a.5.5 0 0 1-.5-.5V8H0v2a2 2 0 0 0 2 2h2v-1.5ZM8 12v-1.5h2a.5.5 0 0 0 .5-.5V8H12v2a2 2 0 0 1-2 2H8Zm2-12a2 2 0 0 1 2 2v2h-1.5V2a.5.5 0 0 0-.5-.5H8V0h2Z\" \/>\n\t\t\t<\/svg>\n\t\t<\/button><\/figure>\n\n\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\" href=\"\/losdv\/wp-content\/uploads\/sites\/4\/2026\/09\/UWB_WLS_Navigation.mp4\" target=\"_blank\" rel=\"noreferrer noopener\">Watch the video <span class=\"au-arrow\" aria-hidden=\"true\">\u2197<\/span><\/a><\/div>\n<\/div>\n<\/div>\n<\/div>\n\n\n<div class=\"wp-block-group au-projnav is-layout-flow wp-block-group-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><a href=\"\/losdv\/en\/projekti\/ofdm-radar\/\"><span>\u2190 Previous<\/span>OFDM radar on the USRP platform<\/a><\/p>\n\n\n<p class=\"wp-block-paragraph\"><a href=\"\/losdv\/en\/projekti\/zaznava-dronov\/\"><span>Next \u2192<\/span>Detection of unmanned aerial vehicles<\/a><\/p>\n<\/div>\n<\/div>\n<\/section>","protected":false},"excerpt":{"rendered":"<p>\u2190 Projekti in zaklju\u010dna dela 01.11 \u00b7 Magistrsko delo Lokalizacija z ultra\u0161irokopasovnim radiem Polo\u017eaj vozli\u0161\u010da dolo\u010dimo iz \u010dasa potovanja ultra\u0161irokopasovnih (UWB) radijskih signalov do nepremi\u010dnih sidrnih to\u010dk \u2013 tudi v zaprtih prostorih, kjer GPS ne deluje. Ponazoritev \u00b7 razdalje do sider \u2192 ocena polo\u017eaja z WLSUstavi O projektu Polo\u017eaj vozli\u0161\u010da dolo\u010dimo iz \u010dasa potovanja ultra\u0161irokopasovnih [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":2098,"menu_order":11,"comment_status":"closed","ping_status":"closed","template":"page-brez-naslova","meta":{"footnotes":""},"class_list":["post-2109","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages\/2109","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/comments?post=2109"}],"version-history":[{"count":1,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages\/2109\/revisions"}],"predecessor-version":[{"id":2122,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages\/2109\/revisions\/2122"}],"up":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages\/2098"}],"wp:attachment":[{"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/media?parent=2109"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}