Abstract
Positioning systems based on ultrawide bandwidth (UWB) technology have been considered recently especially for indoor environments due to the property of UWB signals to resolve multipath and penetrate obstacles. However, line-of-sight (LoS) blockage and excess propagation delay affect ranging measurements thus drastically reducing the positioning accuracy. In this paper, we first characterize and derive models for the range estimation error and the excess delay based on measured data from real-ranging devices. These models are used in various multilateration algorithms to determine the position of the target. From measurements in a real indoor scenario, we investigate how the localization accuracy is affected by the number of beacons and by the availability of priori information about the environment and network geometry. We also examine the case where multiple targets cooperate by measuring ranges not only from the beacons but also from each other. An iterative multilateration algorithm that incorporates information gathered through cooperation is then proposed with the purpose of improving the position estimation accuracy. Using numerical results, we demonstrate the impact of cooperation on the positioning accuracy.
Highlights
The need for accurate and robust localization has intensified in recent years
Localization systems based on ultrawide bandwidth (UWB) technology have been recently considered for indoor environments, due to the property of UWB signals to resolve multipath and penetrate obstacles
Using measurements in a real indoor scenario, we investigate how the localization accuracy is affected by the number of beacons and by the availability of priori information about the environment and network geometry
Summary
The need for accurate and robust localization ( known as positioning and geolocation) has intensified in recent years. The accuracy and reliability of rangeonly localization techniques typically degenerate in dense cluttered environments, where multipath, (LoS) blockage, and excess propagation delays through materials often lead to positively biased range measurements. We present the results of an extensive measurement campaign, from which models for the ranging error and extra propagation delay caused by the presence of walls were derived. This model is adopted in a twostep positioning algorithm based on the LS technique that improves the positioning accuracy when topology information of the environment is available.
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