Ground-Based Wireless Positioning

Dr Kegen Yu received a BEng degree from Jilin University, China, a MEng degree from the Australian National University, Australia, and a PhD degree from the University of Sydney, Australia, in 1983, 1999 and 2003 respectively. From 1983 to 1997 he worked as a practicing engineer and later a lecturer at Nanchang University, China. From 2003 to 2005 he was employed as a Postdoctoral Fellow at the Centre for Wireless Communications, University of Oulu, Finland, researching on wireless positioning and communications theory. Since November 2005 he has served as a Research Scientist at CSIRO working on ad hoc wireless positioning systems, wireless sensor networks and reconfigurable radio. Kegen has published three book chapters, and over 40 refereed journal and conference papers. Ian Sharp is a Senior Consultant on wireless positioning systems. He has over 30 years of engineering experience in radio systems. His initial involvement in positioning technology was in aviation and later, in the 1980s, with the Interscan microwave landing system (MLS). In the later 1980s to the early 1990s, Ian was the R&D manager for the Quiktrak covert vehicle tracking system. This system is now commercially operating worldwide. From the mid 1990s to 2007 Ian worked at the CSIROmainly on developing experimental radio systems. Hewas the inventor and architect designer of CSIRO’s precision location system (PLS) for sports applications. The PLS has been successfully trialed in Australia and the USA. Ian holds a number of patents relating to positioning technology.Professor Y Jay Guo is the Director of the Wireless Technologies Laboratory and Theme Leader of Broadband for Australia in the CSIRO ICT Centre, Australia. Prior to this appointment in August 2005, Jay held various senior positions in the European wireless industry managing the development of advanced technologies for the third-generation (3G) mobile communications systems. Jay has over 20 years of industrial and academic experience in antennas, signal processing and wireless networks. He has published three technical books and over 100 scientific papers in top-tier research journals and at international conferences. He holds 12 patents in wireless technologies. He is a Fellow of IET, Adjunct Professor at Macquarie University, Australia, and Guest Professor at the Chinese Academy of Science (CAS).

• About the Authors xiiiPreface xvAcknowledgments xvii1 Introduction 11.1 Introduction to Radio Positioning 31.2 Short and Medium-range Radiolocation Technologies 51.3 Overview of the Book 102 Radio Propagation 152.1 Statistical Multipath Theory 162.2 Radio Propagation Characteristics at Different Distance Scales 292.3 Measurements 392.4 Excess Delays in Radio Propagation 442.5 Antenna Effects 513 Signal Detection by Correlation 553.1 Transmitter Signal 553.2 Receiver Signal Processing 584 Bandlimited Time-of-Arrival Measurements 774.1 Wideband Multipath Theorem 784.2 Bandlimited Correlogram Characteristics 804.3 Model of Bandlimited Correlogram 834.4 Peak-Tracking Algorithm Performance 864.5 Leading-edge Projection Tracking Algorithm 954.6 Leading-edge Ratio Algorithm 1014.7 Multipath Phase 1084.8 Performance Summary of Tracking Algorithms 1105 Fundamentals of Positioning Systems 1155.1 Navigation Systems and Tracking Systems 1165.2 System Architecture 1185.3 Overview of Position Determination 1325.4 Indoor Performance Issues 1396 Noniterative Position Determination 1476.1 Basic Positioning Methods 1476.2 Linearization-Based Least-Squares Methods 1576.3 Spherical Interpolation Approach 1596.4 Quasi-Least-Squares Solution 1646.5 Linear-Correction Least-Squares Approach 1687 Iterative Position Determination 1737.1 Iterative Algorithms 1737.2 Filtering-Based Methods 1847.3 Data Smoothing 1918 Positioning Accuracy Evaluation 1998.1 Accuracy Measures 1998.2 Cramer--Rao Lower Bound in Line-of-Sight Conditions 2018.3 Derivation of Cramer--Rao Lower Bound in Non-Line-of-Sight Conditions 2078.4 Approximate Variance of Linear Least-Squares Algorithm 2108.5 Accuracy Comparison 2159 Geometric Dilution of Precision Analysis 2239.1 Geometric Error Analysis 2239.2 Statistical Error Analysis 2269.3 Calculation of Geometric Dilution of Precision 2289.4 Accuracy Probabilities 2309.5 Special Cases: Analytical Solutions to Geometric Dilution of Precision 2329.6 Geometric Dilution of Precision Performance 24410 Multipath Mitigation 24910.1 Residual-Weighting-based Method 24910.2 Filtering-based Method 25010.3 Constrained Optimization 25310.4 Scatterer-based Method 26610.5 Error Statistics 27010.6 Propagation-Model-based Method 27410.7 Pattern Matching 27610.8 Performance Analysis 28011 Anchor-based Localization for Wireless Sensor Networks 28911.1 Characteristics of Wireless Sensor Networks 29011.2 Coarse Localization Methods 29111.3 Global Localization Methods 29411.4 Localization with Unknown Internal Delays and Clock Offsets 29812 Anchor Position Accuracy Enhancement 32112.1 Impact of Anchor Location Accuracy on Sensor Node Localization 32212.2 Line-of-Sight and Non-Line-of-Sight Propagation Models 32412.3 Anchor Position Accuracy Bound 32612.4 Accuracy Improvement Based on Distance and Angle Estimates 33012.5 Accuracy Improvement Based on Distance Estimates 33513 Anchor-Free Localization 34313.1 Robust Quads 34413.2 Multidimensional Scaling Method 34413.3 Mass--Spring Model 34813.4 Hybrid Approach 34913.5 Graphical Model 35213.6 Clustering and Stitching 35313.7 Referent Coordinate System Establishment 35513.8 Cramer--Rao Lower Bound 35613.9 Accuracy of Location Estimates 35913.10 Distance-Error-based Accuracy Measure 36313.11 Accuracy Evaluation 36414 Non-Line-of-Sight Identification 37114.1 Data Smoothing 37214.2 Distribution Tests 37314.3 Calculating Level Crossing Rate and Fade Duration 37914.4 Estimating the Rician Factor 38114.5 Generalized Likelihood Ratio Test 38114.6 Nonparametric Method 38314.7 Using Intermediate Location Estimation 38514.8 Neyman--Pearson Test 38714.9 Joint Time-of-Arrival and Received Signal Strength-based Approaches 39014.10 Angle-of-Arrival-based Methods 395Appendix A: Hyperbolic Navigation 409A.1 Analytical Equations of a Hyperbola 409A.2 Solution to Hyperbolic Navigation 412A.3 Solution to Example Problem 414Appendix B: Radio Propagation Measurement Techniques 417B.1 Measurements with a Network Analyzer 417B.2 Time-Domain Measurements 421Index