Indoor localization for non line of sight (NLoS) situations in unknown environments has not yet been satisfactorily solved. A new algorithm, called BeamLoc, is presented in this paper, which does not assume any a priori information about the environment. The position of a robot with an arbitrary position should be estimated via several access points (AP) installed in the indoor scenario. The robot is equipped with a compass to guarantee a common spatial reference within the APs. Using beamforming the APs steer to a certain direction, which is utilized at the APs to estimate the direction of arrival (DoA) of the signal emitted by the robot. Also a time of arrival (ToA) estimation is performed, so that ToA and DoA estimates of the different APs can be combined to estimate the robot's position within a centimeter accuracy, thanks to the huge bandwidth.


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    Title :

    BeamLoc - an approach for NLoS localization in UWB indoor environments


    Contributors:
    Senger, C. (author) / Kaiser, T. (author)

    Publication date :

    2006-01-01


    Size :

    5 pages



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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