Robust tracking of a mobile receiver using unsynchronized time differences of arrival

Bordoy, Joan; Hornecker, Patrick; Höflinger, Fabian; Wendeberg, Johannes; Zhang, Rui; Schindelhauer, Christian; Reindl, L.

doi:10.1109/ipin.2013.6817863

Cited by 11 publications

(5 citation statements)

References 24 publications

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“…Actually, localization based on time difference of arrival (TDOA) has turned out to be a promising approach when neither receiver positions nor the positions of signal origins are known a priori. Thus, the PF-TDOA technique is suitable for TDOA localization as the state can be computed online and it is robust to motion and measurement uncertainty [38].…”

Section: Localization Of Moving Nodes Based On Pf-tdoa Approachmentioning

confidence: 99%

Robust Algorithms for Localizing Moving Nodes in Wireless Sensor Networks

Elayan¹,

Shubair²

2018

Preprint

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The vivid success of the emerging wireless sensor technology (WSN) gave rise to the notion of localization in the communications field. Indeed, the interest in localization grew further with the proliferation of the wireless sensor network applications including medicine, military as well as transport. By utilizing a subset of sensor terminals, gathered data in a WSN can be both identified and correlated which helps in managing the nodes distributed throughout the network. In most scenarios presented in the literature, the nodes to be localized are often considered static. However, as we are heading towards the 5 th generation mobile communication, the aspect of mobility should be regarded. Thus, the novelty of this research relies in its ability to merge the robotics as well as WSN fields creating a state of art for the localization of moving nodes. The challenging aspect relies in the capability of merging these two platforms in a way where the limitations of each is minimized as much as possible. A hybrid technique which combines both the Particle Filter (PF) method and the Time Difference of Arrival Technique (TDOA) is presented. Simulation results indicate that the proposed approach outperforms other techniques in terms of accuracy and robustness.

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Section: Localization Of Moving Nodes Based On Pf-tdoa Approachmentioning

confidence: 99%

Robust Algorithms for Localizing Moving Nodes in Wireless Sensor Networks

Elayan¹,

Shubair²

2018

Preprint

View full text Add to dashboard Cite

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“…This would lead to high positioning errors if the receiver moves at high velocity. Wendeberg et al [25] and Bordoy et al [26] show the feasibility of reference and calibration free localization systems with TDOA. As a result, the mobile receivers have no information about the positions of the beacons and themself.…”

Section: Related Workmentioning

confidence: 99%

“…Once the reception times are precisely estimated by the system described in the previous chapters, the pose of a moving receiver can be tracked using recursive state estimation algorithms, as proved in [26]. However, their performance depends highly upon the knowledge of the initial values of the state.…”

Section: A Introductionmentioning

confidence: 99%

Unsynchronized ultrasound system for TDOA localization

Ens

Reindl

Bordoy

et al. 2014

2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

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Indoor localization based on time difference of arrival (TDOA) has been recently a promising field of study. We consider the previously unsolved problem of locating a moving target receiver by using unsynchronized stationary beacons without requirement of manual calibration. Thus, the received signals and their time of arrival (TOA) have to be assigned to a beacon. Besides, in order to automatically calibrate the system it is required to estimate the time offsets between the senders, their positions and the initial receiver position.We present an approach to estimate all the variables of the scenario using the gradient descent and the Gauss-Newton method, two local optimization algorithms which use the derivative of a system of hyperbolic error equations. Besides, we present an ultrasound transmission system approach which fulfils the requirements of this scenario, being robust against multipath and estimating the reception time with high accuracy. In order to avoid interference by echoes the packet size is reduced by using two frequencies in Orthogonal Frequency Division Multiplex (OFDM). Further, the transmission system enables distinction of the beacons, as the ultrasound signals are used both for localization and for information transmission.The simulations show the local optimization algorithms are capable of estimating the positions of the beacons, receivers and offsets. They require only a rough knowledge of the sender positions. Further, real experiments show that the timestamps are measured with a standard deviation of only 1.19 μs for a SNR of 10 dB, which corresponds to standard deviation of about 0.4 mm for the distance measurement.

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“…The elimination of the RF section leads to a reduction in the complexity, size, and power consumption of both the beacon set and the MD. Furthermore, the proposed method does not present convergence problems, has a much lower computational complexity than iterative or statistical methods and a lower sensitivity to noise compared to other geometric methods based on linearization (see [19][20][21] and [23][24][25][26][27][28][29][30][31][32]).…”

Section: Introductionmentioning

confidence: 98%

“…In [26], many beacons were placed in unknown positions, and statistical and iterative methods, through linear approximations of highly nonlinear equations (GN, LM, particle filter, Kalman filter etc.) were employed to obtain the position of the receiver.…”

Section: Introductionmentioning

confidence: 99%

Mobile Synchronization Recovery for Ultrasonic Indoor Positioning

Carotenuto

Merenda

Iero

et al. 2020

Sensors

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The growing interest for indoor position-based applications and services, as well as ubiquitous computing and location aware information, have led to increasing efforts toward the development of positioning techniques. Many applications require accurate positioning or tracking of people and assets inside buildings, and some market sectors are waiting for such technologies for starting a fast growth. Ultrasonic systems have already been shown to possess the desired positioning accuracy and refresh rate. However, they still require accurate synchronization between ultrasound emitters and receivers to work properly. Usually, synchronization is carried out through radio frequency (RF) signals, adding system complexity and raising the cost. In this work, this limit is overcome by introducing a novel self-synchronizing indoor positioning technique. Ultrasonic signals travel from emitters placed at fixed reference positions to any number of mobile devices (MD). The travelled distance is computed from the time of flight (TOF), which requires in turn synchronism between emitter and receiver. It is shown that this synchronism can be indirectly estimated from the time difference of arrival (TDOA) of the ultrasonic signals. The obtained positioning information is private, in the sense that the positioning infrastructure is not aware of the number or identity of the MDs that use it. Computer simulations and experimental results obtained in a typical office room are provided.

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Robust tracking of a mobile receiver using unsynchronized time differences of arrival

Cited by 11 publications

References 24 publications

Robust Algorithms for Localizing Moving Nodes in Wireless Sensor Networks

Robust Algorithms for Localizing Moving Nodes in Wireless Sensor Networks

Unsynchronized ultrasound system for TDOA localization

Mobile Synchronization Recovery for Ultrasonic Indoor Positioning

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