Handbook of Position Location: Theory, Practice, and Advances(IEEE Series on Digital & Mobile Communication)

A comprehensive review of position location technology — from fundamental theory to advanced practical applications Positioning systems and location technologies have become significant components of modern life, used in a multitude of areas such as law enforcement and security, road safety and navigation, personnel and object tracking, and many more. Position location systems have greatly reduced societal vulnerabilities and enhanced the quality of life for billions of people around the globe — yet limited resources are available to researchers and students in this important field. The Handbook of Position Location: Theory, Practice, and Advances fills this gap, providing a comprehensive overview of both fundamental and cutting-edge techniques and introducing practical methods of advanced localization and positioning. Now in its second edition, this handbook offers broad and in-depth coverage of essential topics including Time of Arrival (TOA) and Direction of Arrival (DOA) based positioning, Received Signal Strength (RSS) based positioning, network localization, and others. Topics such as GPS, autonomous vehicle applications, and visible light localization are examined, while major revisions to chapters such as body area network positioning and digital signal processing for GNSS receivers reflect current and emerging advances in the field. This new edition: Presents new and revised chapters on topics including localization error evaluation, Kalman filtering, positioning in inhomogeneous media, and Global Positioning (GPS) in harsh environments Offers MATLAB examples to demonstrate fundamental algorithms for positioning and provides online access to all MATLAB code Allows practicing engineers and graduate students to keep pace with contemporary research and new technologies Contains numerous application-based examples including the application of localization to drone navigation, capsule endoscopy localization, and satellite navigation and localization Reviews unique applications of position location systems, including GNSS and RFID-based localization systems The Handbook of Position Location: Theory, Practice, and Advances is valuable resource for practicing engineers and researchers seeking to keep pace with current developments in the field, graduate students in need of clear and accurate course material, and university instructors teaching the fundamentals of wireless localization.

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

About the Author :
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.