{"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\/projekti\/uwb-lokalizacija\/","title":{"rendered":"Lokalizacija z ultra\u0161irokopasovnim radiem"},"content":{"rendered":"\n<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\/#iz-nasega-dela\">\u2190 Projekti in zaklju\u010dna dela<\/a><\/p>\n\n\n<p class=\"au-eyebrow wp-block-paragraph\">01.11 \u00b7 Magistrsko delo<\/p>\n\n\n<h1 class=\"wp-block-heading\">Lokalizacija z ultra\u0161irokopasovnim radiem<\/h1>\n\n\n<p class=\"au-lead wp-block-paragraph\">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.<\/p>\n\n\n<div class=\"anim-box\">\n      <canvas id=\"anim\" aria-label=\"Animacija: robot vozi po igri\u0161\u010du med \u0161tirimi sidri. UWB impulzi izmerijo razdalje do sider, kro\u017enice teh razdalj se sekajo v polo\u017eaju robota, algoritem WLS pa izra\u010duna oceno polo\u017eaja in izri\u0161e njeno sled.\"><\/canvas>\n      <div class=\"anim-cap mono\"><span>Ponazoritev \u00b7 razdalje do sider \u2192 ocena polo\u017eaja z WLS<\/span><button class=\"anim-toggle\" type=\"button\">Ustavi<\/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\">O projektu<\/h2>\n\n\n<p class=\"wp-block-paragraph\">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.<\/p>\n\n\n<p class=\"wp-block-paragraph\">Ultra\u0161irokopasovni radio oddaja zelo kratke impulze, zato lahko sprejemnik \u010das njihovega prihoda dolo\u010di zelo natan\u010dno. Iz \u010dasa potovanja signala dobimo razdaljo do posameznega sidra. Z razdaljami do ve\u010d sider je polo\u017eaj robota dolo\u010den kot prese\u010di\u0161\u010de kro\u017enic okoli sider.<\/p>\n\n\n<h2 class=\"wp-block-heading\">Kako deluje<\/h2>\n\n\n<ol class=\"wp-block-list au-steps\">\n<li><strong>Sidra<\/strong> so postavljena na znanih, nepremi\u010dnih polo\u017eajih okoli obmo\u010dja vo\u017enje.<\/li>\n\n\n<li><strong>Merjenje razdalj<\/strong>: vozli\u0161\u010de na robotu z UWB impulzi izmeri \u010das potovanja signala do vsakega sidra in ga pretvori v razdaljo.<\/li>\n\n\n<li><strong>WLS<\/strong> (ute\u017eeni najmanj\u0161i kvadrati) iz vseh razdalj izra\u010duna polo\u017eaj, ki se meritvam najbolje prilega; zanesljivej\u0161e meritve dobijo ve\u010djo ute\u017e.<\/li>\n\n\n<li><strong>Filtriranje<\/strong>: na posnetku so prikazani tudi kalibracija ter filtra EKF in UKF, ki gladita zaporedje ocen med vo\u017enjo.<\/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>Vrsta<\/td><td>Magistrsko delo<\/td><\/tr><tr><td>Podro\u010dje<\/td><td>Daljinsko vodenje \u00b7 Navigacija<\/td><\/tr><tr><td>Tehnologija<\/td><td>Ultra\u0161irokopasovni radio (UWB)<\/td><\/tr><tr><td>Meritev<\/td><td>\u010cas potovanja signala do sidrnih to\u010dk<\/td><\/tr><tr><td>Ocena polo\u017eaja<\/td><td>WLS, filtra EKF in UKF<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n<figure data-wp-context=\"{&quot;imageId&quot;:&quot;6aef84cd35361&quot;}\" data-wp-interactive=\"core\/image\" data-wp-key=\"6aef84cd35361\" 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\">Poglej 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\/projekti\/ofdm-radar\/\"><span>\u2190 Prej\u0161nji<\/span>OFDM radar na platformi USRP<\/a><\/p>\n\n\n<p class=\"wp-block-paragraph\"><a href=\"\/losdv\/projekti\/zaznava-dronov\/\"><span>Naslednji \u2192<\/span>Zaznava brezpilotnih letalnikov<\/a><\/p>\n<\/div>\n<\/div>\n<\/section>\n","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\/wp-json\/wp\/v2\/pages\/2109","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/comments?post=2109"}],"version-history":[{"count":1,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/pages\/2109\/revisions"}],"predecessor-version":[{"id":2122,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/pages\/2109\/revisions\/2122"}],"up":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/pages\/2098"}],"wp:attachment":[{"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/media?parent=2109"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}