An Accurate 3D UWB Hyperbolic Localization in Indoor Multipath Environment Using Iterative Taylor-Series Estimation

Abstract

An accurate approach in locating a source based on the intersections of hyperboloids defined by the time difference of arrival (TDOA) of a signal received at a number of reference nodes is proposed and investigated. The demonstrated system consists of a UWB transmitter, irradiating a UWB Gaussian pulse, and eight coherent receivers where positions are known. Techniques like optimal template-based estimator used for time delay estimation are discussed. The effect of errors in range measurement on the accuracy of positioning is reduced by adopting Taylor-series-based minimization procedures. Furthermore, we evaluate the performance of the proposed method by comparing with traditional LSE minimization procedure in both simulation and experimental results. The experimental results show that the target positioning error is only about (0.7198±0.271)cm (mean±standard deviation), which is accurate for potential applications such as robot navigation, personal tracking and monitoring.