We propose a novel concurrent ranging technique for distance estimation with ultra-wideband (UWB) radios. Conventional schemes assume that the necessary packet exchanges occur in isolation to avoid collisions. Concurrent ranging relies on the overlapping of replies from nearby responders to the same ranging request issued by an initiator node. As UWB transmissions rely on short pulses, the individual times of arrival can be discriminated by examining the channel impulse response (CIR) of the initiator transceiver. By ranging against N responders with a single , concurrent exchange, our technique drastically abates network overhead, enabling higher ranging frequency with lower latency and energy consumption w.r.t. conventional schemes. Concurrent ranging can be implemented with a strawman approach requiring minimal changes to standard schemes. Nevertheless, we empirically show that this limits the attainable accuracy, reliability, and therefore applicability. We identify the main challenges in realizing concurrent ranging without dedicated hardware and tackle them by contributing several techniques, used in synergy in our prototype based on the popular DW1000 transceiver. Our evaluation, with static targets and a mobile robot, confirms that concurrent ranging reliably achieves decimeter-level distance and position accuracy, comparable to conventional schemes but at a fraction of the network and energy cost.

中文翻译：

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超宽带并发测距

我们提出小说并发测距超宽带 (UWB) 无线电的距离估计技术。传统方案假定必要的数据包交换单独发生以避免冲突。并发测距依赖于重叠来自附近响应者对发起者节点发出的相同测距请求的回复。由于 UWB 传输依赖于短脉冲，因此可以通过检查发起方收发器的信道脉冲响应 (CIR) 来区分各个到达时间。通过对ñ响应者单身的，并发交换，我们的技术大大减少了网络开销，与传统方案相比，可以实现更高的测距频率、更低的延迟和能耗。可以使用稻草人方法实现并发测距，只需对标准方案进行最少的更改。然而，我们凭经验表明，这限制了可达到的准确性、可靠性和适用性。我们确定了在没有专用硬件的情况下实现并发测距的主要挑战，并通过提供多种技术来解决这些挑战，这些技术在我们基于流行的 DW1000 收发器的原型中协同使用。我们对静态目标和移动机器人的评估证实，并发测距可靠地实现了分米级的距离和位置精度，