Abstract
This paper presents an enhanced least-squares positioning algorithm for locating and tracking within indoor environments where multipath and nonline-of-sight propagation conditions predominate. The ranging errors are modeled as a zero-mean random component plus a bias component that is assumed to be a linear function of the range. Through minimizing the mean-square error of the position estimation, an expression for the optimal estimate of the bias parameter is obtained. Both range and pseudo-range-based positioning are considered. Simulations and experimentation are conducted which show that a significant accuracy gain can be achieved for range-based positioning using the enhanced least-squares algorithm. It is also observed that the pseudo-range-based least-squares algorithm is little affected by the choice of the bias parameter. The results demonstrate that the experimental 5.8-GHz ISM band positioning system can achieve positional accuracy of around half a meter when using the proposed algorithm.
Original language | English |
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Article number | 6212501 |
Pages (from-to) | 1640-1650 |
Number of pages | 11 |
Journal | IEEE Transactions on Mobile Computing |
Volume | 12 |
Issue number | 8 |
DOIs | |
Publication status | Published - 2013 |
Externally published | Yes |
Keywords
- enhanced least-squares algorithm
- experimental verification
- Indoor positioning
- multipath and nonline-of-sight propagation
- optimal bias parameter
- positional accuracy analysis
- range and pseudo-range