Abstract
Small and pervasive devices have been increasingly used to identify and track objects automatically. Consequently, several low-cost localization schemes have been proposed in the literature based on angle of arrival (AoA), time difference of arrival (TDoA), received signal strength indicator (RSSI) or their combinations. In this paper, we propose a three-dimensional empirical AoA localization (TDEAL) technique for battery-powered devices. The proposed technique processes the AoA measurements at fixed reader nodes to estimate the locations of the tags. The proposed technique provides localization accuracy that mitigates non-linear empirical errors in AoA measurements. We utilize two omni-directional antenna arrays at each fixed reader node to estimate the location vector. With multiple location estimations from different fixed reader nodes, each estimated location is assigned a weight that is inversely proportional to the AoA phase-difference error. Furthermore, the actual AoA parabolic formula of the location is approximated to a cone to simplify the location calculation process. The proposed localization technique has a low hardware cost, low computational requirements, and precise location estimates. Based on the performance evaluation, significant location accuracy is achieved by TDEAL; where, for instance, an average error margin of less than 13 cm is achieved using 10 readers in an area of. TDEAL can be utilized to provide reference points when integrated with a relative (e.g., inertial navigation systems) localization systems.
Highlights
Non-satellite based localization is a fundamental basis for a multitude of Internet of Things (IoT) smart environment applications
If there is no error in angle of arrival (AoA) measurements, all estimated locations will be at a single point
To test the performance of the proposed three-dimensional empirical AoA localization (TDEAL) technique, a tag is placed on all grid points of the room at heights of 0, 1.5, 2.5, and 3 m
Summary
Non-satellite based localization is a fundamental basis for a multitude of Internet of Things (IoT) smart environment applications. In range-based techniques, time difference of arrival (TDoA), time of arrival (ToA), angle of arrival (AoA), and received signal strength indicator (RSSI) are dominant [1,2,3,4,5,6,7]. The second primary range-based technique is AoA; the angle at which the signal arrives at the antenna of the receiver is utilized to estimate the sender’s location. The collected AoAs from all readers are reported to a central database to apply the proposed method in localizing the target device at that given time. The proposed TDEAL technique utilizes realistic (empirical) non-linear AoA in the calculation of the tag location.
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