Single Antenna Anchor-Free UWB Positioning based on Multipath Propagation
Kuang, Yubin; Åström, Karl; Tufvesson, Fredrik (2013). Single Antenna Anchor-Free UWB Positioning based on Multipath Propagation [Host publication title missing]. IEEE International Conference on Communication, ICC 2013. Budapest, Hungary: IEEE - Institute of Electrical and Electronics Engineers Inc.
Conference Proceeding/Paper
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Published
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English
Authors:
Kuang, Yubin
;
Åström, Karl
;
Tufvesson, Fredrik
Department:
Mathematics (Faculty of Engineering)
Department of Electrical and Information Technology
ELLIIT: the Linköping-Lund initiative on IT and mobile communication
eSSENCE: The e-Science Collaboration
Abstract:
Radio based localization and tracking usually require multiple receivers/transmitters or a known floor plan. This paper presents a method for anchor free indoor positioning based on single antenna ultra wideband (UWB) measurements. By using time of arrival information from multipath propagation components stemming from scatterers with different, but unknown, positions we estimate the movement of the receiver as well as the angle of arrival of the considered multipath components.
Experiments are shown for real indoor data measured in a lecture room with promising results.
Simultaneous estimation of both receiver motion, transmitter and scatterer positions is performed using an factorization based approach followed by non-linear least squares optimization. A RANSAC approach to automatic matching of data has also been implemented and tested. The resulting reconstruction is compared to ground truth motion as given by the antenna positioner. The resulting accuracy is in the order of one cm.
Keywords:
ultra wideband ;
tracking ;
localization ;
multipath ;
time of arrival ;
TOA ;
structure from motion
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