5G Localization
Background
Contemporary robotic systems are typically designed to function within predetermined environments, such as manufacturing plants, where detailed floor plans and predefined paths are readily available in the robot's memory.
However, in dynamic field robotics applications, where environments are subject to change, the demand for real-time navigation and adaptive mission planning is imperative. While outdoor scenarios, like delivery robotics, often rely on Global Navigation Satellite Systems (GNSS) in conjunction with collision detection systems, indoor operations necessitate detailed floor plans and simultaneous localization and mapping (SLAM)-based navigation.
Bridging the gap between indoor and outdoor environments poses a significant challenge, as GNSS signals are ineffective indoors, and outdoor navigation lacks the structured guidance provided by indoor floor plans.
What is FCTLab developing?
Our focus lies in 5G-driven positioning methods tailored for indoor robotic functionalities. FCTLab is exploring innovative approaches for robot localization leveraging the capabilities of 5G communication networks. We are developing robust performance metrics to meticulously assess various localization techniques under scrutiny. Through rigorous experimentation with our Open Air Interface (OAI) based testbed, we aim to validate and refine selected methodologies, ensuring optimal efficacy for indoor robotic applications.
Motivations
Cellular-based positioning, complementing GNSS systems, works effectively outdoors and indoors, benefiting from 5G rollouts globally.
5G supports positioning functions with the use of Positioning Reference Signal (PRS) for TOA measurement, evolving from LTE to 5G standards.
5G NR PRS, defined in 3GPP specifications, introduces flexible configurations and patterns distinct from previous OFDM pilot signals like LTE CRS.
Testbed for Timing Based Technique
Testbed for Angular Based Technique
4 channel USRP X410 with each channel B/W 400 MHz
Software/Hardware for Open Air Interface (OAI) to emulate gNBs
Phased array modules to transmit the beams in specific directions
Use Case Examples
