A Practical and Economical Ultra-wideband Base Station Placement Approach for Indoor Autonomous Driving Systems

Figure 1

HDOP distribution map of positioning area for different numbers of BSs in a uniform layout; (a) triangle three times coverage; (b) triangle four times coverage; (c) square three times coverage; (d) square four times coverage; (e) square five times coverage.

(a)

(b)

(c)

(d)

(e)