Abstract
There are many situations in which it is desirable to use a Local Positioning System (LPS), which constitutes a complete and independent unit, offers high accuracy and in addition is economical to realize. This paper describes the LPS LOSNUS (Localization of Sensor Nodes by Ultra Sound). LOSNUS is a complete and independent LPS where the same system can be used for localization and calibration. Primarily designed for locating numerous quasi-static devices, special care of system construction has taken on costly factors, especially in the construction of the infrastructure and of sensor nodes where locating can be realized with minimal additional hardware costs. LOSNUS enables a calibration process without the need of additional expensive tools and/or laborious time in order to get accurate positions of transmitters. As a result, LOSNUS delivers high locating accuracy at medium update rates, and in case of sufficient number of transmitters can also tolerate single failures in the Time of Arrival (ToA) measurement, allowing arbitrary failure modes. In this article, the system is presented starting from design, realization and algorithms of localization and calibration. Finally, new measurement results are showing the high accuracy of localization based on a discussion of the applied uncertainty description.
Highlights
Indoor localization is an ongoing field of research with new realizations of hardware, position estimation algorithms, calibration methods, and applications being developed every year
The Local Positioning System (LPS) LOSNUS system is installed in a 4 × 6 × 4 m testing room
A basic requirement for high accuracy is an accurate calibration, which is ensured by high quality ToF measurements and a known reference distance
Summary
Indoor localization is an ongoing field of research with new realizations of hardware, position estimation algorithms, calibration methods, and applications being developed every year. Local positioning systems (LPS) based on ultrasound (US) have been established which are mostly intended for locating moving devices and persons. Locating of numerous quasi-static devices integrated in a network is important where US locating with high accuracy offers significant advantages for these systems. A wireless sensor network (WSN) with numerous nodes can be used as an example. Many applications dedicated to WSN can be significantly improved by node locating, e.g., network integration of nodes, supply node locations to application programs, supervising locations with respect to accidentally dislocating, detecting faking of node locations, and automatic device setup and security aspects in building networks [1,2]. Several design concepts for US locating systems have been presented. The concepts of these systems are influenced by a wide range of parameters, which will be briefly discussed in the following. For a more thorough discussion of this topic, the interested reader is referred to [3] where the most important properties are summarized
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