ArticleSensors (Basel, Switzerland)2024
ReLoki: A Light-Weight Relative Localization System Based on UWB Antenna Arrays.
Article in Sensors (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Coherent Signal DOA Estimation and 3D Point Cloud Imaging Based on a Straight-Curved Hybrid L-Shaped Conformal Array.Sensors (Basel, Switzerland) · 2026Article
- Multipath Credibility Selection for Robust UWB Angle-of-Arrival Estimation in Narrow Underground Corridors.Sensors (Basel, Switzerland) · 2026Article
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2 authors.
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Abstract
Ultra Wide-Band (UWB) sensing has gained popularity in relative localization applications. Many localization solutions rely on using Time of Flight (ToF) sensing based on a beacon-tag system, which requires four or more beacons in the environment for 3D localization. A lesser researched option is using Angle of Arrival (AoA) readings obtained from UWB antenna pairs to perform relative localization. In this paper, we present a UWB platform called ReLoki that can be used for ranging and AoA-based relative localization in 3D. To enable AoA, ReLoki utilizes the geometry of antenna arrays. In this paper, we present a system design for localization estimates using a Regular Tetrahedral Array (RTA), Regular Orthogonal Array (ROA), and Uniform Square Array (USA). The use of a multi-antenna array enables fully onboard infrastructure-free relative localization between participating ReLoki modules. We also present studies demonstrating sub-50cm localization errors in indoor experiments, achieving performance close to current ToF-based systems, while offering the advantage of not relying on static infrastructure.
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