High Accuracy Terrestrial Positioning Based on Time Delay and Carrier Phase Using Wideband Radio Signals

Accurate position solutions are in high demand for many emerging applications. Global navigation satellite systems (GNSS), however, may not meet the required positioning performance, especially in urban environments, due to multipath and weak received power of the GNSS signal that can be easily blocked by surrounding objects. To achieve a high...

Design of Sparse Multiband Signal for Precise Positioning with Joint Low-Complexity Time Delay and Carrier Phase Estimation

This paper presents a methodology to design a sparse multiband ranging signal with a large virtual bandwidth, from which time delay and carrier phase are estimated by a low complexity multivariate maximum likelihood (ML) method. In the estimation model for a multipath channel, not all reflected paths are considered, and time delay and carrier...

Artificial-Delay Adaptive Control for Under-actuated Euler-Lagrange Robotics

Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e. artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This work formulates an artificial-delay control method with adaptive gains in the presence of nonlinear ...

Sparse Signal Bands Selection for Precise Time-based Ranging in Terrestrial Positioning

Time-based ranging accuracy is inversely proportional to the signal bandwidth. A larger the signal bandwidth leads to a higher accuracy of time delay estimation, but more complex hardware is needed. Alternatively, we explore the idea of using multiple narrow signal bands (e.g., 10 MHz of each) to create a large virtual signal bandwidth, which...