Abstract
In complex indoor propagation environment, the non-line-of-sight error caused by various obstacles brings great error to node positioning. Choosing the appropriate signal transmission methods is important to improve node indoor positioning accuracy. In this research, ultra-wideband technology, as baseband with high theoretical positioning accuracy and real-time performance, is implemented to transmit indoor signals. The proposed fusion algorithm with ultra-wideband baseband takes advantages from both time difference of arrival and angle of arrival algorithms, combined through the steepest descent algorithm. The non-line-of-sight signal estimation error is iteratively eliminated to achieve effective positioning accuracy. The experimental results indicate that the novel time difference of arrival/angle of arrival fusion algorithm with steepest descent algorithm can largely improve node positioning accuracy and stability.
Highlights
With the maturity of wireless communication technology, the demand for accurate indoor positioning technology in large venues, home security, and commercial and military fields is very urgent.[1,2] At present, the ultra-wideband (UWB) technology compatible with the IEEE 802.15.4-2011 standard has become the main indoor positioning technology due to its unique advantages in data bandwidth, accuracy, and real-time performance.[3]In the existing positioning algorithm, the time difference of arrival (TDoA) algorithm is widely applicable because it does not require strict clock synchronization between the base station (BS) and the mobile station (MS) and can obtain more accurate positioning while maintaining strict time synchronization between the BSs.[4]
Inspired by information fusion approaches,[13,14,15,16] Chan algorithm and steepest descent algorithm (SDA),[17] in this article we propose a TDoA/angle of arrival (AoA) fusion algorithm with SDA aiming to iteratively attenuate NLoS estimation error and achieve improved stable positioning accuracy in complex indoor environment
In order to verify the suppression effect of the TDoA/ AoA fusion algorithm with SDA on NLoS error, the algorithm was verified by Hainan EVK Real-Time Locationing System (RTLS) 3.0 Testbed independently developed by our experimental team
Summary
With the maturity of wireless communication technology, the demand for accurate indoor positioning technology in large venues, home security, and commercial and military fields is very urgent.[1,2] At present, the ultra-wideband (UWB) technology compatible with the IEEE 802.15.4-2011 standard has become the main indoor positioning technology due to its unique advantages in data bandwidth, accuracy, and real-time performance.[3]In the existing positioning algorithm, the time difference of arrival (TDoA) algorithm is widely applicable because it does not require strict clock synchronization between the base station (BS) and the mobile station (MS) and can obtain more accurate positioning while maintaining strict time synchronization between the BSs.[4]. The system measurement error is only calculated as the total error of the TDoA/AoA fusion algorithm, which leads to higher probability on final positioning error estimation. Inspired by information fusion approaches,[13,14,15,16] Chan algorithm and steepest descent algorithm (SDA),[17] in this article we propose a TDoA/AoA fusion algorithm with SDA aiming to iteratively attenuate NLoS estimation error and achieve improved stable positioning accuracy in complex indoor environment.
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