Experimental Study of Indoor Tracking Using UWB Measurements and Particle Filtering

• Target tracking with ultra-wideband (UWB) signals in indoor environments is a challenging problem due to the presence of multipath and non-line-of-sight conditions (NLOS). A solution to this problem is to use particle filtering (PF), which is able to handle both nonlinear models and non-Gaussian uncertainties that typically appear in the presence of NLOS. In this paper, we compare four different PF variants, that differ in terms of how  NLOS measurements are handled. According to our experimental results, based on the measurements from a basement tunnel,    multiple features from the UWB impulse response should be used, and  the ranging likelihood function should make use of both LOS and NLOS measurements. Standard time-of-arrival (TOA) based methods, even with NLOS rejection, are not good enough. Instead we advocate TOA-based algorithms that can actively mitigate errors due to NLOS.

Ämnesord

Engineering and Technology  (hsv)

Electrical Engineering, Electronic Engineering, Information Engineering  (hsv)

Communication Systems  (hsv)

Teknik och teknologier  (hsv)

Elektroteknik och elektronik  (hsv)

Kommunikationssystem  (hsv)

Signal Processing  (hsv)

Signalbehandling  (hsv)

Nyckelord

target tracking

ultra-wideband

particle filtering

machine learning

time of arrival