Abstract
The 3D indoor localization of low-cost standard mobile devices represents an important research topic. Since the implementation of ultra-wideband localization systems requires elaborated hardware, a localization concept based on phase-difference-of-arrival (PDOA) evaluation of narrow band communication signals at spatially distributed antennas is favorable in many applications. Typically, PDOA measurements are used to estimate the angle-of-arrival (AOA) at several receivers, which are then combined via multiangulation. However, AOA estimation requires far field conditions, thereby limiting measurement sensitivity, and distorts measurements in a non linear fashion. To overcome these limitations, this paper proposes the iterative holographic extended Kalman filter (IHEKF), which directly evaluates the phase differences between spatially distributed antenna pairs. The IHEKF requires neither a specific waveform nor emitter–receiver synchronization and, therefore, represents a good candidate for localization within communication systems such as 5G/6G. Since the evaluation of phase differences is affected by phase ambiguity, the IHEKF is designed so that closely spaced antenna pairs are evaluated first and then more distant antennas are included successively to improve accuracy. The IHEKF’s capabilities are demonstrated via a 24 GHz narrow band measurement setup with strong multipath propagation, providing outstanding localization accuracy in the millimeter range without consuming any notable RF signal bandwidth.
Highlights
I N recent years, wireless localization has attained constantly rising popularity
This paper proposes the iterative holographic extended Kalman filter (IHEKF), which enables using both the unambiguity information of closely spaced antenna and the exactness of distant antennas while being more computationally efficient
3D localization systems, which evaluate the PDOA at several receiver arrays, as in the measurement setup shown in Fig. 1, only require very coarse synchronization between receivers, since the necessary synchronization precision only depends on the dynamics of the expected movement and is not related to the signal’s propagation time
Summary
I N recent years, wireless localization has attained constantly rising popularity. The continuously increasing appearance of smartphones, RFID tags, and other devices with wireless communication has initiated countless new applications, for localization using electromagnetic waves [1]–[4]. The processing of all difference phases in the HEKF contains much redundant information and increases computational effort, which stands in conflict with the required high update rates To eliminate these drawbacks, this paper proposes the IHEKF, which enables using both the unambiguity information of closely spaced antenna and the exactness of distant antennas while being more computationally efficient. This paper proposes the IHEKF, which enables using both the unambiguity information of closely spaced antenna and the exactness of distant antennas while being more computationally efficient For this purpose, the IHEKF update is designed so that closely spaced antenna pairs, which provide unambiguous position information even for large beacon position updates, are first evaluated, and more distant antennas, which improve localization accuracy due to their high measurement sensitivity [13], are added successively.
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