Development and Experimentation of a Real-Time Greenhouse Positioning System Based on IUKF-UWB
Abstract
:1. Introduction
- (1)
- A real-time greenhouse IoT positioning system with a three-tier architecture is designed to upload the collected ranging information to the cloud for processing and computation in order to reduce the energy consumption of distributed wireless IoT terminals in greenhouses and to enhance the system’s life cycle.
- (2)
- Using DS-TWR to obtain real-time distance information between the anchor and the tags carried by the robot, and designing the communication type identification method to recognize the ranging communication type of the UWB in the current state.
- (3)
- Based on the ranging deviation propagation characteristics of UWB signals in a greenhouse environment, IUKF is proposed to construct the error compensation function in the non-line-of-sight state in order to improve the positioning accuracy of the localization system in the NLOS situation.
2. Materials and Methods
2.1. System Composition and Design
2.2. UWB Ranging Correction Model
2.2.1. UWB Communication State Discrimination Method
2.2.2. LOS Correction Model
2.2.3. NLOS Correction Model
2.3. Remote Operation Interface
3. Results
3.1. Test Environment and Equipment
3.2. Analysis of Experiment Results
4. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Target Points | Longitudinal Deviation | Lateral Deviation | |||||
---|---|---|---|---|---|---|---|
Max (m) | MAE (m) | RMSE (m) | Max (m) | MAE (m) | RMSE (m) | ||
Tag | 1 | 0.153 | 0.094 | 0.101 | 0.155 | 0.097 | 0.106 |
2 | 0.138 | 0.090 | 0.094 | 0.146 | 0.093 | 0.097 | |
3 | 0.125 | 0.072 | 0.076 | 0.128 | 0.070 | 0.079 | |
4 | 0.144 | 0.096 | 0.104 | 0.141 | 0.093 | 0.098 | |
5 | 0.159 | 0.097 | 0.103 | 0.138 | 0.098 | 0.092 |
Positioning Method | Max (m) | MAE (m) | RMSE (m) |
---|---|---|---|
LS | 0.684 | 0.383 | 0.416 |
EKF | 0.312 | 0.214 | 0.235 |
UKF | 0.264 | 0.183 | 0.203 |
IUKF | 0.205 | 0.114 | 0.134 |
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Li, M.; Gao, H.; Zhao, M.; Mao, H. Development and Experimentation of a Real-Time Greenhouse Positioning System Based on IUKF-UWB. Agriculture 2024, 14, 1479. https://doi.org/10.3390/agriculture14091479
Li M, Gao H, Zhao M, Mao H. Development and Experimentation of a Real-Time Greenhouse Positioning System Based on IUKF-UWB. Agriculture. 2024; 14(9):1479. https://doi.org/10.3390/agriculture14091479
Chicago/Turabian StyleLi, Minghua, Hongyan Gao, Mingxue Zhao, and Hanping Mao. 2024. "Development and Experimentation of a Real-Time Greenhouse Positioning System Based on IUKF-UWB" Agriculture 14, no. 9: 1479. https://doi.org/10.3390/agriculture14091479