Localization with Sub-Millimeter Accuracy for UWB-Based Wearable Human Movement Radar Systems

Abstract

In this paper, we investigate the basic design parameters and propose a two-phase localization algorithm for full-body human locomotion tracking systems using ultra wideband (UWB) radios. The proposed localization is divided into two measurement phases namely, the initial and core phases. The initialization phase is based on the linear least-squares (LS) localization. The proposed initial localization phase has a localization accuracy of 0.247 mm. For core phase, we investigate the use of classical multidimensional scaling (C-MDS) localization and show that the achievable accuracy is approximately 0.47 mm (1 mm and sub-millimeter reported for current optical tracking systems). The reported accuracy in the literature for UWB-based systems is ≈ 400 mm. Thus, the proposed localization technique provides a substantial improvement over existing systems, which makes it suitable for accurate kinematic parameter measurement. Results presented for system performance and design parameters are investigated using simulations and actual measurements. Ultimately, the proposed system is suitable for taking accurate measurements and for tele-rehabilitation.