Handbook of Position Location

S. A. (REZA) ZEKAVAT is currently a visiting professor at Worcester Polytechnic Institute (WPI). He is a Professor and the founder of the wireless positioning lab at Michigan Tech. His research has been supported by many federal agencies such as National Science Foundation, ARL, CERDEC, and companies such as Ford Motors, and National Instruments. Dr. Zekavat has served as the Editor of many Journals including IET Wireless Sensor Systems, IET Communications, and Springer Int. Journal on Wireless Information Networks. He has also served on the Executive Committee of many IEEE Conferences such as PIMRC, WiSEE, SPAWC, and ISMICT. R. MICHAEL BUEHRER is a Professor in the Bradley Department of Electrical and Computer Engineering at Virginia Tech and the director of Wireless @ Virginia Tech. His research has been sponsored by many federal agencies including ARL, DARPA, ONR and NSF, and companies such as Lockheed Martin, Qualcomm and Motorola. He is a Fellow of the IEEE.

• Preface xiiiContributors xxiiiAbout the Companion Website xxvPart I Fundamentals of Position LocationChapter 1 Wireless Positioning Systems: Operation, Application, and Comparison 3S. A. (Reza) Zekavat, Michigan Technological University, Stuti Kansal, Michigan Technological University, Allen H. Levesque, Worcester Polytechnic InstituteChapter 2 Localization Sensor Error Measures and Analysis 25Mojtaba Bahramgiri, Michigan Technological University, S. A. (Reza) Zekavat, Michigan Technological UniversityChapter 3 Source Localization: Algorithms and Analysis 59H. C. So, City University of Hong KongChapter 4 Channel Modeling and Its Impact on Localization 107S. A. (Reza) Zekavat, Michigan Technological UniversityChapter 5 An Introduction to Kalman Filtering Implementation for Localization and Tracking Applications 143Shu Ting Goh, S. A. (Reza) Zekavat, Ossama AbdelkhalikPart II TOA and DOA Based PositioningChapter 6 Fundamentals of Time-of-Arrival-Based Position Location 199R. Michael Buehrer, Virginia Tech, Swaroop Venkatesh, Virginia TechChapter 7 TOA Estimation Techniques: a Comparison 237Mohsen Pourkhaatoun, Michigan Technological University, S. A. (Reza) Zekavat, Michigan Technological UniversityChapter 8 Wireless Localization Using Ultra-Wideband Signals 269Liuqing Yang, Colorado State University, Huilin Xu, QUALCOMM IncorporatedChapter 9 An Introduction to Direction-of-Arrival Estimation Techniques 303S. A. (Reza) Zekavat, Michigan Technological UniversityChapter 10 Positioning in Inhomogeneous Media 343Mohsen Jamalabdollahi, Michigan Tech, S. A. (Reza) Zekavat, Michigan TechPart III Received Signal Strength Based PositioningChapter 11 Fundamentals of Received Signal Strength-Based Position Location 369Jeong Heon Lee, Virginia Tech, R. Michael Buehrer, Virginia TechChapter 12 On the Performance of Wireless Indoor Localization Using Received Signal Strength 405Jie Yang, Florida State University, Yingying Chen, Rutgers University, Richard P. Martin, Rutgers University, Wade Trappe, Rutgers University, Marco Gruteser, Rutgers UniversityChapter 13 Impact of Anchor Placement and Anchor Selection on Localization Accuracy 435Yingying Chen, Rutgers University, Jie Yang, Florida State University, Wade Trappe, Rutgers University, Richard P. Martin, Rutgers UniversityChapter 14 Kernel Methods for RSS-Based Indoor Localization 467Piyush Agrawal, University of Utah, Neal Patwari, University of UtahChapter 15 Fingerprinting Location Techniques 497Rafael Saraiva Campos, Centro Federal de Educação Tecnológica Celso Suckow da Fonseca, Lisandro Lovisolo, Universidade do Estado do Rio de JaneiroPart IV LOS/NLOS Localization – Identification – MitigationChapter 16 NLOS Identification and Localization 533Wenjie Xu, Michigan Technological University, Zhonghai Wang, Michigan Technological University, S. A. (Reza) Zekavat, Michigan Technological UniversityChapter 17 NLOS Mitigation Methods for Geolocation 567Joni Polili Lie, Nanyang Technological University, Chin-Heng Lim, Nanyang Technological University, Chong-Meng Samson See, Nanyang Technological University, DSO National LaboratoriesChapter 18 Mobile Position Estimation Using Received Signal Strength and Time of Arrival in Mixed LOS/NLOS Environments 593Bamrung Tau Sieskul, University of Vigo, Feng Zheng, Leibniz University of Hannover, Thomas Kaiser, University of Duisburg EssenChapter 19 Mobile Tracking in Mixed Line-of-Sight/Non-Line-of-Sight Conditions: Algorithms and Theoretical Lower Bound 629Liang Chen, Wuhan University, Simo Ali-Löytty, Tampere University of Technology, Robert Piché, Tampere University of Technology, Lenan Wu, Southeast UniversityPart V Global PositioningChapter 20 Overview of Global Positioning Systems 655Fabio Dovis, Politecnico di Torino, Davide Margaria, Istituto Superiore Mario Boella, Paolo Mulassano, Istituto Superiore Mario Boella, Fabrizio Dominici, Istituto Superiore Mario BoellaChapter 21 Digital Signal Processing for GNSS Receivers 707Letizia Lo Presti, Politecnico di Torino, Maurizio Fantino, Istituto Superiore Mario Boella, Marco Pini, Istituto Superiore Mario BoellaChapter 22 Kalman Filter-based Approaches for Positioning: Integrating Global Positioning with Inertial Sensors 763Emanuela Falletti, Istituto Superiore Mario Boella, Gianluca Falco, Istituto Superiore Mario BoellaChapter 23 An overview on Global Positioning Techniques for Harsh Environments 839Nicola Linty, Politecnico di Torino, Fabio Dovis, Politecnico di TorinoPart VI Network LocalizationChapter 24 Collaborative Position Location 885R. Michael Buehrer, Virginia Tech, Tao Jia, Virginia TechChapter 25 Polynomial-Based Methods for Localization in Multiagent Systems 943Iman Shames, The Australian National University and The University of Melbourne, Baris¸ Fidan, University of Waterloo, Brian D. O. Anderson, The Australian National University and The University of Melbourne, Hatem Hmam, Defence Science & Technology OrganisationChapter 26 Belief Propagation Techniques for Cooperative Localization in Wireless Sensor Networks 967Vladimir Savic, Technical University of Madrid, Chalmers University of Technology, Santiago Zazo, Technical University of MadridChapter 27 Err or Characteristics of Ad Hoc Positioning Systems 999Dragos¸ Niculescu, University Politehnica of BucharestChapter 28 Self-Localization of UAV Formations Using Bearing Measurements 1027Iman Shames, The Australian National University and The University of Melbourne, Barıs˛ Fidan, University of Waterloo, Brian D. O. Anderson, The Australian National University and The University of Melbourne, Hatem Hmam, Defence Science and Technology OrganisationPart VII Special Topics and ApplicationsChapter 29 Localization for Autonomous Driving 1051Ami Woo, University of Waterloo, Baris Fidan, University of Waterloo, William W. Melek, University of WaterlooChapter 30 RFID-Based Autonomous Mobile Robot Navigation 1089Sunhong Park, Smart Vehicle Technology Research Center, Guillermo Enriquez, Advanced Science and EngineeringShuji Hashimoto, Advanced Science and EngineeringChapter 31 Visible Light-Based Communication and Localization 1121Lisandro Lovisolo, Rio de Janeiro State University (UERJ), Michel P. Tcheou & Flávio R. Ávila, Rio de Janeiro State University (UERJ)Chapter 32 Positioning in LTE 1165Ari Kangas, Ericsson AB, Iana Siomina, Ericsson AB, Torbjörn Wigren, Ericsson ABChapter 33 Automated Wildlife Radio Tracking 1219Dr. Robert B. MacCurdy, University of Colorado, Dr. Allert I. Bijleveld, NIOZ Royal Netherlands Institute for Sea Research Texel, Richard M. Gabrielson, Cornell University, Dr. Kathryn A. Cortopassi, Cornell UniversityChapter 34 Wireless Local Positioning Systems 1263S. A. (Reza) Zekavat, Michigan Technological UniversityChapter 35 N ear-Ground Channel Modeling with Applications in Wireless Sensor Networks and Autonomous Driving 1289Amir Torabi, Michigan Technological University, S. A. (Reza) Zekavat, Michigan Technological UniversityIndex 1309