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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.19262 |
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| _version_ | 1866916416434733056 |
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| author | Coppens, Dieter Van Herbruggen, Ben Shahid, Adnan De Poorter, Eli |
| author_facet | Coppens, Dieter Van Herbruggen, Ben Shahid, Adnan De Poorter, Eli |
| contents | Indoor positioning using UWB technology has gained interest due to its centimeter-level accuracy potential. However, multipath effects and non-line-of-sight conditions cause ranging errors between anchors and tags. Existing approaches for mitigating these ranging errors rely on collecting large labeled datasets, making them impractical for real-world deployments. This paper proposes a novel self-supervised deep reinforcement learning approach that does not require labeled ground truth data. A reinforcement learning agent uses the channel impulse response as a state and predicts corrections to minimize the error between corrected and estimated ranges. The agent learns, self-supervised, by iteratively improving corrections that are generated by combining the predictability of trajectories with filtering and smoothening. Experiments on real-world UWB measurements demonstrate comparable performance to state-of-the-art supervised methods, overcoming data dependency and lack of generalizability limitations. This makes self-supervised deep reinforcement learning a promising solution for practical and scalable UWB-ranging error correction. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_19262 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Removing the need for ground truth UWB data collection: self-supervised ranging error correction using deep reinforcement learning Coppens, Dieter Van Herbruggen, Ben Shahid, Adnan De Poorter, Eli Signal Processing Machine Learning Indoor positioning using UWB technology has gained interest due to its centimeter-level accuracy potential. However, multipath effects and non-line-of-sight conditions cause ranging errors between anchors and tags. Existing approaches for mitigating these ranging errors rely on collecting large labeled datasets, making them impractical for real-world deployments. This paper proposes a novel self-supervised deep reinforcement learning approach that does not require labeled ground truth data. A reinforcement learning agent uses the channel impulse response as a state and predicts corrections to minimize the error between corrected and estimated ranges. The agent learns, self-supervised, by iteratively improving corrections that are generated by combining the predictability of trajectories with filtering and smoothening. Experiments on real-world UWB measurements demonstrate comparable performance to state-of-the-art supervised methods, overcoming data dependency and lack of generalizability limitations. This makes self-supervised deep reinforcement learning a promising solution for practical and scalable UWB-ranging error correction. |
| title | Removing the need for ground truth UWB data collection: self-supervised ranging error correction using deep reinforcement learning |
| topic | Signal Processing Machine Learning |
| url | https://arxiv.org/abs/2403.19262 |