Koreksi Diferensial pada Trilaterasi Ultra-Wideband untuk Meningkatkan Akurasi Lokalisasi Dalam Ruangan

Akbari, Achmad Iqbal (2026) Koreksi Diferensial pada Trilaterasi Ultra-Wideband untuk Meningkatkan Akurasi Lokalisasi Dalam Ruangan. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Teknologi radio ultra-wideband (UWB) banyak digunakan untuk lokalisasi dalam ruangan karena memiliki bandwidth yang lebar sehingga mampu menghasilkan resolusi pengukuran waktu yang tinggi dan lebih tahan terhadap efek multipath. Namun, akurasi sistem positioning UWB masih rentan terhadap kondisi non-line-of-sight (NLOS) yang menyebabkan kesalahan pengukuran jarak dan menurunkan akurasi trilaterasi. Penelitian ini menerapkan metode koreksi diferensial pada sistem lokalisasi UWB berbasis two-way ranging (TWR) dengan memanfaatkan sebuah node statis sebagai pengoreksi yang memiliki posisi ground-truth diketahui. Selisih antara posisi trilaterasi dan posisi sebenarnya pada node pengoreksi digunakan untuk mengoreksi posisi trilaterasi tag. Pengujian dilakukan menggunakan jaringan UWB DWM1000 yang terdiri atas empat anchor, satu tag, dan satu node pengoreksi pada area dalam ruangan berukuran 10,2 × 10,2 m dengan 256 titik pengukuran. Hasil penelitian menunjukkan bahwa koreksi diferensial meningkatkan akurasi lokalisasi dengan menurunkan rata-rata eror posisi dari 18 cm menjadi 16,07 cm. Namun, presisi sistem menurun yang ditunjukkan oleh peningkatan rata-rata deviasi standar dari 2,92 cm menjadi 4,4 cm. Pengujian pada lingkungan indoor, semi-indoor, dan outdoor menunjukkan bahwa metode ini umumnya meningkatkan akurasi trilaterasi, terutama ketika posisi tag berada dekat dengan node pengoreksi.
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Ultra-wideband (UWB) radio technology is widely used for indoor localization due to its large bandwidth, which enables high time-measurement resolution and greater robustness against multipath effects. However, the accuracy of UWB positioning systems remains susceptible to non-line-of-sight (NLOS) conditions, which introduce ranging errors and reduce trilateration accuracy. This research implements a differential correction method in a UWB localization system based on two-way ranging (TWR) by utilizing a static correction node with a known ground-truth position. The difference between the trilaterated position and the actual position of the correction node is used to compensate for errors in the tag's trilaterated position. Experiments were conducted using a DWM1000 UWB network consisting of four anchors, one tag, and one correction node in a 10.2 × 10.2 m indoor area with 256 measurement points. The results show that differential correction improves localization accuracy by reducing the mean positioning error from 18 cm to 16.07 cm. However, the system precision decreases, as indicated by an increase in the average standard deviation from 2.92 cm to 4.4 cm. Additional experiments conducted in indoor, semi-indoor, and outdoor environments demonstrate that the proposed method generally improves trilateration accuracy, particularly when the tag is located near the correction node.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	UWB, TWR, trilaterasi, koreksi diferensial, radio, UWB, TWR, trilateration, differential correction, radio
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5103.2 Wireless communication systems. Two way wireless communication T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK6564 Radio transmitter-receivers T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5101 Telecommunication
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Achmad Iqbal Akbari
Date Deposited:	16 Jul 2026 04:31
Last Modified:	16 Jul 2026 04:31
URI:	http://repository.its.ac.id/id/eprint/135144

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