Ultra Wideband as Sensor Technology for 3D Mapping. A Feasibility Study.

Project Type: Master/Diploma Thesis
Student: Pammer Viktoria

 

 The purpose of this diploma thesis is to discuss the feasibility of ultra wideband (UWB) as sensor technology for 3D mapping. Starting point is an application scenario where emergency personnel is working in environments with limited visibility. The personnel is carrying UWB devices on them which are primarily intended for localization and communication. 3D mapping of the environment is an additional desirable feature. Consequently, the UWB antenna is not designed for radar applications. More specifically, it will not have any directional resolution. This constitutes a significant constraint for the desired functionality. In the course of this diploma thesis, it will be shown that the localization capability of the system makes it possible to merge measurement data from different positions in order to get directional information. To this purpose, the CLEAN algorithm is thoroughly analyzed in theory, implemented and applied to experimental data. Furthermore, the relation of the given application to the simultaneous localization and mapping (SLAM) problem is shown. This diploma thesis provides an introduction into the envisaged application scenario, a systematic problem analysis and a discussion of key issues. Viable solutions are suggested and partly implemented and validated. It will be concluded that the mapping functionality of the considered system is feasible. Objects can be detected, but the quality is still insufficient for a usable product.