Harmonia: wideband spreading for accurate indoor rf localization

We introduce Harmonia, a new RF-based localization scheme that provides the simplicity, cost, and power advantages of traditional narrowband radios with the decimeter-scale accuracy of ultra wideband localization techniques. Harmonia is an asymmetric tag and anchor system, requiring minimal modifications to existing low-power wireless devices to support high-fidelity localization with comparatively modest infrastructure costs. A prototype Harmonia design offers location estimates with an average-case error of 53.4 cm in complex, heavy-multipath, indoor environments and captures location estimates at 56 Hz while requiring only 1.7 mA additional power draw for each tag and complying with all US UWB regulations. We believe this architecture's combination of accuracy, update rate, power draw, and system complexity will lead to a new point in the design space.