@article{01J6VMX7SS0EQ1NAQT37JBD9CR,
  abstract     = {{Urban freight distribution via inland waterways is an important way to boost the quality of life in major urban areas with dense water networks. Cost-effective autonomous pallet shuttle barges (PSBs) are key to accelerate the shift from road-based transport to inland waterways. Yet, the urban settings impede reliable centimeter-level localization at critical waterway sections. In this article, we propose a time-domain-optimized antenna array to provide high-precision 3-D localization in these complex environments with minimal shore-side infrastructure by exploiting impulse-radio ultra-wideband (IR-UWB) technology. To enable joint distance and 2-D angle-of-arrival (AoA) estimation, we present a novel IR-UWB antenna element that covers channels 5 and 7 of the IEEE 802.15.4z standard, serving as a building block for scalable multi-antenna systems. By leveraging the air-filled substrate-integrated-waveguide (AFSIW) technology and adopting a multi-objective system-level optimization strategy, excellent performance is reconciled with a compact footprint and cost-effective fabrication. The 3-D positioning accuracy of a 2 x 2 array is evaluated in stand-alone conditions and when installed on a metal plate mimicking a PSB's metal hull, showing that all distance errors and 97% of angular errors remain below 2 cm and 5 degrees, respectively. Finally, three anchor nodes, each consisting of a 1 x 4 array connected to a Pozyx hardware platform, are installed on a vessel navigating in a narrow canal below a bridge in Ghent. With only one shore-side UWB beacon node deployed, 96% of AoA estimation errors remain below 10 degrees, while the distance error remains below 10 cm, proving good installed performance in harsh urban shipping environments.}},
  author       = {{Gordebeke, Gert-Jan and Lemey, Sam and Caytan, Olivier and Boes, Michiel and Jocqué, Jelle and Van de Velde, Samuel and Marshall, Chris and De Poorter, Eli and Rogier, Hendrik}},
  issn         = {{1530-437X}},
  journal      = {{IEEE SENSORS JOURNAL}},
  keywords     = {{ULTRA-WIDE-BAND,FRAMEWORK,PATTERNS,SENSORS,Antenna arrays,Estimation,Ultra wideband antennas,Slot antennas,Antenna feeds,Location awareness,Antenna measurements,Air-filled substrate-integrated-waveguide (AFSIW),angle-of-arrival (AoA),cavity-backed slot antenna,impulse-radio ultra-wideband (IR-UWB),localization,time-domain optimization,urban shipping}},
  language     = {{eng}},
  number       = {{5}},
  pages        = {{5561--5577}},
  title        = {{Time-domain-optimized antenna array for high-precision IR-UWB localization in harsh urban shipping environments}},
  url          = {{http://doi.org/10.1109/JSEN.2023.3310992}},
  volume       = {{24}},
  year         = {{2024}},
}

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