As the necessity of wireless charging to support the popularization of electric vehicles (EVs) emerges, the development of a wireless power transfer (WPT) system for EV wireless charging is rapidly progressing. The WPT system requires alignment between the transmitter coils installed on the parking lot floor and the receiver coils in the vehicle. To automatically align the two sets of coils, the WPT system needs a localization technology that can precisely estimate the vehicle’s pose in real time. This paper proposes a novel short-range precise localization method based on ultrawideband (UWB) modules for application to WPT systems. The UWB module is widely used as a localization sensor because it has a high accuracy while using low power. In this paper, the minimum number of UWB modules consisting of two UWB anchors and two UWB tags that can determine the vehicle’s pose is derived through mathematical analysis. The proposed localization algorithm determines the vehicle’s initial pose by globally optimizing the collected UWB distance measurements and estimates the vehicle’s pose by fusing the vehicle’s wheel odometry data and the UWB distance measurements. To verify the performance of the proposed UWB-based localization method, we perform various simulations and real vehicle-based experiments.

中文翻译：

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基于超宽带（UWB）的精确短程本地化，可将无线功率传输到停车环境中的电动汽车

随着无线充电支持电动汽车（EV）普及的必要性的兴起，用于EV无线充电的无线电力传输（WPT）系统的开发正在迅速发展。WPT系统要求在安装在停车场地板上的发射器线圈和车辆中的接收器线圈之间对齐。为了自动对准两组线圈，WPT系统需要一种定位技术，该技术可以实时准确地估计车辆的姿态。本文提出了一种基于超宽带（UWB）模块的新型短距离精确定位方法，用于WPT系统。UWB模块被广泛用作定位传感器，因为它在使用低功耗的同时具有很高的精度。在本文中，通过数学分析得出可以确定车辆姿态的由两个UWB锚点和两个UWB标签组成的UWB模块的最小数量。所提出的定位算法通过全局优化收集的UWB距离测量值来确定车辆的初始姿态，并通过融合车辆的车轮里程数据和UWB距离测量值来估计车辆的姿态。为了验证所提出的基于UWB的定位方法的性能，我们执行了各种模拟和基于实车的实验。所提出的定位算法通过全局优化收集的UWB距离测量值来确定车辆的初始姿态，并通过融合车辆的车轮里程数据和UWB距离测量值来估计车辆的姿态。为了验证所提出的基于UWB的定位方法的性能，我们执行了各种模拟和基于实车的实验。所提出的定位算法通过全局优化收集的UWB距离测量值来确定车辆的初始姿态，并通过融合车辆的车轮里程数据和UWB距离测量值来估计车辆的姿态。为了验证所提出的基于UWB的定位方法的性能，我们执行了各种模拟和基于实车的实验。