Asynchronous Hyperbolic UWB Source-Localization and Self-Localization for Indoor Tracking and Navigation

Journal article (2023)

Authors

David Chiasson Shanghai Jiao Tong University
Yuan Lin Shanghai Jiao Tong University
M. Kok Team Manon Kok - Mechanical, Maritime and Materials Engineering
Peter Shull Shanghai Jiao Tong University
Research Group
Team Manon Kok (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 David Chiasson, Yuan Lin, M. Kok, Peter Shull
DOI: https://doi.org/10.1109/JIOT.2023.3243384
Privacy Synchronization Internet of Things TDOA Scalability Multilateration Clocks Distance measurement Location awareness Hyperbolic localization Indoor Navigation Ultra wideband (UWB)
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Published Date

2023

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Manon Kok

Abstract

Hyperbolic localization measures the time difference of arrivals (TDOAs)
of signals to determine the location of a wireless source or receiver.
Traditional methods depend on precise clock synchronization between
nodes so that time measurements from independent devices can be
meaningfully compared. Imperfect synchronization is often the dominant
source of error. We propose two new message based TDOA equations for
hyperbolic localization which require no synchronization and meet or
exceed state-of-the-art accuracy. Our approaches leverage anchor nodes
that observe each other’s packet arrival times and a novel reformulation
of the TDOA equation to reduce the effect of clock drift error.
Closed-form equations are derived for computing TDOA in both
self-localization and source-localization modes of operation along with
bounds on maximum clock drift error. Three experiments are performed
including a clock drift simulation, a non-line-of-sight (NLOS)
simulation, and an indoor validation experiment on custom ultra wideband
(UWB) hardware all of which involved eight anchor nodes and one
localizing node in a 128m3 capture volume. Our source-localization
approach achieved unprecedented accuracy with lower cost equipment and
trivial setup. Our self-localization matched state-of-the art accuracy
but with infinite scalability and high privacy. These results could
enable economical and infinite density indoor navigation and
dramatically reduce the economic cost and increase the accuracy of
implementing industrial and commercial tracking applications.