Statistical mapping of real environments with uwb radars

Ahtaryieva, Lilia (2015) Statistical mapping of real environments with uwb radars. [Laurea magistrale], Università di Bologna, Corso di Studio in Ingegneria elettronica e telecomunicazioni per lo sviluppo sostenibile [LM-DM270] - Cesena, Documento ad accesso riservato.
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In this master thesis I evaluated the performance of a Ultra-Wide Bandwidth (UWB) radar system for indoor environments mapping. In particular, I used a statistical Bayesian approach which is able to combine all the measurements collected by the radar, including system non-idealities such as the error on the estimated antenna pointing direction or on the estimated radar position. First I verified through simulations that the system was able to provide a sufficiently accurate reconstruction of the surrounding environment despite the limitations imposed by the UWB technology. In fact, the emission of UWB pulses is limited in terms of transmitted power by international regulations. Motivated by the promising results obtained through simulations, I successively carried out a measurement campaign in a real indoor environment using a UWB commercial device. The obtained results showed that the UWB radar system is capable of providing an accurate reconstruction of indoor environments also adopting not directional antennas.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Ahtaryieva, Lilia
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
UWB, ultra, wide, bandwidth, UWB, radar, indoor, mapping, statistical, mapping, EKF, extended, kalman, filter
Data di discussione della Tesi
19 Marzo 2015

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