High Precision UWB-Based 3D Localization for Medical Environment

In recent years developments in medical interventions led to an increase in technical equipment and devices. By providing a spatio- temporal identification and localization framework beneficial applications can be realized in a crowded, dynamic and harsh environment. Ultra wideband using an impulse radio signaling scheme has attracted interest for applications where precise localization is needed. In this paper we present a high precision, real-time 3D localization system using commercially available UWB hardware modules that are compliant with the frequency and RF emission restrictions of the Federal Communications Commission. We implement a trilateration algorithm and three tracking filter to improve the raw UWB localization data. Results from our measurement campaign in medical environment show an accuracy of 35 mm and a precision of up to 1.5 mm in a static case with approximately 30 Hz position update rate. We also shed a light on the dynamic behavior of the implemented filter algorithms and give suggestions to improve them. The proposed UWB localization system shows an initial step of high precision localization in medical environment.