== Abstract ==

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This paper compares two positioning systems, namely ultra-wideband (UWB) based micro-location technology and dead reckoning and a RPLidar based simultaneous localization and mapping (SLAM) solution. This new approach can be used to improve the quality of the positioning system and increase the functionality of advanced driver assistance systems (ADAS). This is achieved by using stationary nodes and UWB tags on the vehicles. Thus, the redundancy of localization can be achieved by this approach, e.g., as a backup to onboard sensors like RPlidar or radar. Additionally, UWB based micro-location allows additional data channels to be used for communication purposes. Furthermore, it is shown that the regular use of correction data increases UWB and dead reckoning accuracy. These correction data can be based on onboard sensors. This shows that it is promising to develop a system that fuses onboard sensors and micro-localization for safety-critical tasks like the platooning of commercial vehicles.

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Document type: Article

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== Full document ==

<pdf>Media:Draft_Content_672158798-beopen483-9357-document.pdf</pdf>

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== Original document ==

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The different versions of the original document can be found in:

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* [http://europepmc.org/articles/PMC7374407 http://europepmc.org/articles/PMC7374407] under the license https://creativecommons.org/licenses/by

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* [https://www.mdpi.com/1424-8220/20/13/3761/pdf https://www.mdpi.com/1424-8220/20/13/3761/pdf]

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* [https://dblp.uni-trier.de/db/journals/sensors/sensors20.html#GrzechcaZPHGCB20 https://dblp.uni-trier.de/db/journals/sensors/sensors20.html#GrzechcaZPHGCB20],

: [https://www.mdpi.com/1424-8220/20/13/3761 https://www.mdpi.com/1424-8220/20/13/3761],

: [https://www.mdpi.com/1424-8220/20/13/3761/pdf https://www.mdpi.com/1424-8220/20/13/3761/pdf],

: [https://www.ncbi.nlm.nih.gov/pubmed/32635591 https://www.ncbi.nlm.nih.gov/pubmed/32635591],

: [https://pubmed.ncbi.nlm.nih.gov/32635591 https://pubmed.ncbi.nlm.nih.gov/32635591],

: [https://www.scilit.net/article/82e7009c001b782d6fee7198ccda8891 https://www.scilit.net/article/82e7009c001b782d6fee7198ccda8891],

: [https://academic.microsoft.com/#/detail/3040499321 https://academic.microsoft.com/#/detail/3040499321] under the license cc-by

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* [https://www.mdpi.com/1424-8220/20/13/3761 https://www.mdpi.com/1424-8220/20/13/3761],

: [https://doaj.org/toc/1424-8220 https://doaj.org/toc/1424-8220]

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* [https://www.mdpi.com/1424-8220/20/13/3761/pdf https://www.mdpi.com/1424-8220/20/13/3761/pdf],

: [http://dx.doi.org/10.3390/s20133761 http://dx.doi.org/10.3390/s20133761]

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 under the license https://creativecommons.org/licenses/by/4.0/

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