An indoor localization technique based on ultra-wideband AoD/AoA/ToA estimation

Abstract

Abstract-This work presents a novel localization scheme based on Ultra-Wideband (UWB) channel sounding, employing a triangulation method that makes use of the geometrical properties of propagation paths, such as time of arrival (ToA), angle of departure (AoD) and angle of arrival (AoA). An extension to the high-resolution RiMAX algorithm was developed, facilitating the analysis of UWB frequency-dependent propagation parameters, allowing for the localization of a target node in Line-of-Sight (LoS), Obstructed-LoS (OLoS), and Non-LoS (NLoS) scenarios.

Intelligent Multisensor Cooperative Localization Under Cooperative Redundancy Validation

“…where n ξ0 and n ξi are the errors of ξ 0 and ξ i , respectively. We do not use the value of ρ i to assess the outliers directly, but to calculate the probability that ξ 0 is an outlier by ρ i as (26) shows. Because (n ξ0 , n ξi ) ∼ N 0, σ 2 ξ0 , 0, σ 2 ξi , 0 , we have:…”

“…are equivalent to n ξ0 and n ξi in (26) , respectively. The error is assessed in each direction, then we have: (33) where σ…”

“…The Global Positioning System (GPS) itself is not enough in IoT applications because in these complicated environments (such as the urban areas and the buildings), the satellite signal can be blocked sometimes that might lead to very large errors or even localization suspend [7], [8]. Thus, different types of localization systems or methods are developed to overcome the weaknesses of satellite positioning system, such as using Wireless Sensor Network (WSN) [6], [9]- [14], base-station [15]- [19], Wi-Fi/Bluetooth [1], [2], [20]- [22] and ultra-wide bandwidth (UWB) signal [3], [22]- [26]. Hybrid localization which fuses massive observations measured by different signal sources could provide higher localization accuracy and stronger robustness.…”

“…Sensors which can provide the range and angle observations, known as the Time of Arrival (TOA) and Angle of Arrival (AOA), are usually used in multisensor localization [12], [26], [30], [31]. In this paper, we focus on the multisensor cooperative localization which fuses absolute location measurements and TOA-AOA observations together.…”

An Indoor Variance-Based Localization Technique Utilizing the UWB Estimation of Geometrical Propagation Parameters

“…In our evaluation of the localization results, we will compare two closely related algorithms. The first one is 'method 1' [27], which follows the procedure described above, but only uses the estimated mean parameters of the propagation paths for the ray tracing localization. More specifically, the flowchart for this method can be obtained by omitting block 3 from Figure 3 (described in Section III-B).…”