Ground-Based Wireless Positioning: (IEEE Press)

Ground Based Wireless Positioning provides an in-depth treatment of non-GPS based wireless positioning techniques, with a balance between theory and engineering practice. The book presents the architecture, design and testing of a variety of wireless positioning systems based on the time-of-arrival, signal strength, and angle-of-arrival measurements. These techniques are essential for developing accurate wireless positioning systems which can operate reliably in both indoor and outdoor environments where the Global Positioning System (GPS) proves to be inadequate. The book covers a wide range of issues including radio propagation, parameter identification, statistical signal processing, optimization, and localization in large and multi-hop networks. A comprehensive study on the state-of-the-art techniques and methodologies in wireless positioning and tracking is provided, including anchor-based and anchor-free localisation in wireless sensor networks (WSN). The authors address real world issues such as multipath, non-line-of-sight (NLOS) propagation, accuracy limitations and measurement errors. Presenting the latest advances in the field, Ground Based Wireless Positioning is one of the first books to cover non-GPS based technologies for wireless positioning. It serves as an indispensable reference for researchers and engineers specialising in the fields of localization and tracking, and wireless sensor networks. Provides a comprehensive treatment of methodologies and algorithms for positioning and tracking Includes practical issues and case studies in designing real wireless positioning systems Explains non-line-of-sight (NLOS) radio propagation and NLOS mitigation techniques Balances solid theory with engineering practice of non-GPS wireless systems

Table of Contents:
About the Authors xiii Preface xv Acknowledgments xvii 1 Introduction 1 1.1 Introduction to Radio Positioning 3 1.2 Short and Medium-range Radiolocation Technologies 5 1.3 Overview of the Book 10 2 Radio Propagation 15 2.1 Statistical Multipath Theory 16 2.2 Radio Propagation Characteristics at Different Distance Scales 29 2.3 Measurements 39 2.4 Excess Delays in Radio Propagation 44 2.5 Antenna Effects 51 3 Signal Detection by Correlation 55 3.1 Transmitter Signal 55 3.2 Receiver Signal Processing 58 4 Bandlimited Time-of-Arrival Measurements 77 4.1 Wideband Multipath Theorem 78 4.2 Bandlimited Correlogram Characteristics 80 4.3 Model of Bandlimited Correlogram 83 4.4 Peak-Tracking Algorithm Performance 86 4.5 Leading-edge Projection Tracking Algorithm 95 4.6 Leading-edge Ratio Algorithm 101 4.7 Multipath Phase 108 4.8 Performance Summary of Tracking Algorithms 110 5 Fundamentals of Positioning Systems 115 5.1 Navigation Systems and Tracking Systems 116 5.2 System Architecture 118 5.3 Overview of Position Determination 132 5.4 Indoor Performance Issues 139 6 Noniterative Position Determination 147 6.1 Basic Positioning Methods 147 6.2 Linearization-Based Least-Squares Methods 157 6.3 Spherical Interpolation Approach 159 6.4 Quasi-Least-Squares Solution 164 6.5 Linear-Correction Least-Squares Approach 168 7 Iterative Position Determination 173 7.1 Iterative Algorithms 173 7.2 Filtering-Based Methods 184 7.3 Data Smoothing 191 8 Positioning Accuracy Evaluation 199 8.1 Accuracy Measures 199 8.2 Cramer--Rao Lower Bound in Line-of-Sight Conditions 201 8.3 Derivation of Cramer--Rao Lower Bound in Non-Line-of-Sight Conditions 207 8.4 Approximate Variance of Linear Least-Squares Algorithm 210 8.5 Accuracy Comparison 215 9 Geometric Dilution of Precision Analysis 223 9.1 Geometric Error Analysis 223 9.2 Statistical Error Analysis 226 9.3 Calculation of Geometric Dilution of Precision 228 9.4 Accuracy Probabilities 230 9.5 Special Cases: Analytical Solutions to Geometric Dilution of Precision 232 9.6 Geometric Dilution of Precision Performance 244 10 Multipath Mitigation 249 10.1 Residual-Weighting-based Method 249 10.2 Filtering-based Method 250 10.3 Constrained Optimization 253 10.4 Scatterer-based Method 266 10.5 Error Statistics 270 10.6 Propagation-Model-based Method 274 10.7 Pattern Matching 276 10.8 Performance Analysis 280 11 Anchor-based Localization for Wireless Sensor Networks 289 11.1 Characteristics of Wireless Sensor Networks 290 11.2 Coarse Localization Methods 291 11.3 Global Localization Methods 294 11.4 Localization with Unknown Internal Delays and Clock Offsets 298 12 Anchor Position Accuracy Enhancement 321 12.1 Impact of Anchor Location Accuracy on Sensor Node Localization 322 12.2 Line-of-Sight and Non-Line-of-Sight Propagation Models 324 12.3 Anchor Position Accuracy Bound 326 12.4 Accuracy Improvement Based on Distance and Angle Estimates 330 12.5 Accuracy Improvement Based on Distance Estimates 335 13 Anchor-Free Localization 343 13.1 Robust Quads 344 13.2 Multidimensional Scaling Method 344 13.3 Mass--Spring Model 348 13.4 Hybrid Approach 349 13.5 Graphical Model 352 13.6 Clustering and Stitching 353 13.7 Referent Coordinate System Establishment 355 13.8 Cramer--Rao Lower Bound 356 13.9 Accuracy of Location Estimates 359 13.10 Distance-Error-based Accuracy Measure 363 13.11 Accuracy Evaluation 364 14 Non-Line-of-Sight Identification 371 14.1 Data Smoothing 372 14.2 Distribution Tests 373 14.3 Calculating Level Crossing Rate and Fade Duration 379 14.4 Estimating the Rician Factor 381 14.5 Generalized Likelihood Ratio Test 381 14.6 Nonparametric Method 383 14.7 Using Intermediate Location Estimation 385 14.8 Neyman--Pearson Test 387 14.9 Joint Time-of-Arrival and Received Signal Strength-based Approaches 390 14.10 Angle-of-Arrival-based Methods 395 Appendix A: Hyperbolic Navigation 409 A.1 Analytical Equations of a Hyperbola 409 A.2 Solution to Hyperbolic Navigation 412 A.3 Solution to Example Problem 414 Appendix B: Radio Propagation Measurement Techniques 417 B.1 Measurements with a Network Analyzer 417 B.2 Time-Domain Measurements 421 Index