A Framework for a Relative Real-Time Tracking System Based on Ultra-Wideband Technology

The growing number of applications in automated robots and vehicles has increased the demand for positioning, locating, and tracking systems. The majority of the current methods are based on machine vision systems and require a continuous direct line of sight (LOS) between the tracking device and the target for carrying out the desired functionalities. This limits the possible applications and makes them vulnerable to disturbances. The method presented in this paper aims to remove the continuous LOS requirement and allow for an omnidi- rectional and accurate tracking method using ultra-wideband (UWB) technology. This is achieved by placing a set of anchors within a short distance of one another on a device capable of movement that can keep track of the position of a target; this is in contrast to regular indoor positioning systems where a target monitors its own position in relation to a set of fixed reference anchors placed at a large distance apart. The new approach is referred to as the flipped anchors topology. The results show that the proposed topology is suitable for positioning, tracking and following applications that require a high degree of accuracy at short distances with the possibility of removing the continuous direct LOS requirement