Martin Scherhaufl, R. Pfeil, M. Pichler, A. Berger
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A novel ultrasonic indoor localization system with simultaneous estimation of position and velocity
We present a novel ultrasonic (US) indoor localization system based on the time-of-arrival (TOA) principle realized with radio frequency (RF) synchronization. The US signal is assembled as a Gold sequence of chirp signals to guarantee a high signal-to-noise ratio (SNR) and, at the same time, provide the position estimates of multiple mobile transmitters (MTs). By exploiting the TOA in the time domain and the Doppler shift in the frequency domain, position and velocity of the MT can be determined simultaneously. The concept is proven by means of both simulated and measured data and performs excellently even in a harsh industrial environment.
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