Asynchronous Hyperbolic UWB Source-Localization and Self-Localization for Indoor Tracking and Navigation
David Chiasson (Shanghai Jiao Tong University)
Yuan Lin (Shanghai Jiao Tong University)
M. Kok (TU Delft - Team Manon Kok)
Peter Shull (Shanghai Jiao Tong University)
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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.