Viewing sector optimisation for indoor localisation using multi‐lateration with unilateral nodes deployment

Abstract

Viewing sector optimisation allows reaching a maximum available localisation accuracy in indoor environments using optimal estimators. In this study, the authors provide such an optimisation for multi-lateration by employing the unbiased finite impulse response (UFIR) filtering technique, which ignores noise and initial values. The authors consider the unilateral deployment of anchor nodes and show, both theoretically and experimentally, that the optimal angle of arrival is zero, optimal viewing angle is π/2, acceptable viewing angle ranges as π/4…3π/4 and nodes density k increases the localisation accuracy as a reciprocal of the root square of k. Experimental verification is provided using the ultra-wide band indoor precise localisation technology, in which the distance is measured via the time of arrival.