Abstract
The accuracy requirements for sensor network positioning have grown over the last few years due to the high precision demanded in activities related with vehicles and robots. Such systems involve a wide range of specifications which must be met through positioning devices based on time measurement. These systems have been traditionally designed with the synchronization of their sensors in order to compute the position estimation. However, this synchronization introduces an error in the time determination which can be avoided through the centralization of the measurements in a single clock in a coordinate sensor. This can be found in typical architectures such as Asynchronous Time Difference of Arrival (A-TDOA) and Difference-Time Difference of Arrival (D-TDOA) systems. In this paper, a study of the suitability of these new systems based on a Cramér-Rao Lower Bound (CRLB) evaluation was performed for the first time under different 3D real environments for multiple sensor locations. The analysis was carried out through a new heteroscedastic noise variance modelling with a distance-dependent Log-normal path loss propagation model. Results showed that A-TDOA provided less uncertainty in the root mean square error (RMSE) in the positioning, while D-TDOA reduced the standard deviation and increased stability all over the domain.
Highlights
Over the past few years, positioning systems have experienced a growing importance due to the wide range of applications they present in numerous civil and military fields
Asynchronous Time Difference of Arrival systems (TDOA) systems Asynchronous Time Difference of Arrival (A-TDOA) and Difference-Time Difference of Arrival (D-TDOA) are compared for sensor network positioning
A methodology to select the suitability of two asynchronous TDOA systems based on a Cramér-Rao Lower Bound (CRLB) evaluation under a 3D, real environment was accomplished for the first time to the best of our knowledge
Summary
Over the past few years, positioning systems have experienced a growing importance due to the wide range of applications they present in numerous civil and military fields. Positioning methods based on satellite systems, e.g., global navigation satellite systems (GNSS), offer accurate precision with global coverage but still present accuracy issues for specific crucial tasks such as high-precision trajectories or indoor navigation. These issues have recently attracted much attention with the advent of unmanned transportation. Positioning systems have traditionally been classified into four main groups: Time of Arrival systems (TOA) [1,2], Time Difference of Arrival systems (TDOA) [3,4], Angle of Arrival systems (AOA) [5,6], Received Signal Strength Indication systems (RSSI) [7,8], or a combination of them [9,10]
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