Highly efficient impulse-radio ultra-wideband cavity-backed slot antenna in stacked air-filled substrate integrated waveguide technology

An impulse-radio ultra-wideband (IR-UWB) cavity-backed slot antenna covering the [5.9803; 6.9989] GHz frequency band of the IEEE 802.15.4a-2011 standard is designed and implemented in an air-filled substrate integrated waveguide (AFSIW) technology for localization applications with an accuracy of at least 3 cm. By relying on both frequency and time-domain optimization, the antenna achieves excellent IR-UWB characteristics. In free-space conditions, an impedance bandwidth of 1.92 GHz (or 29.4%), a total efficiency higher than 89%, a front-to-back ratio of at least 12.1 dB, and a gain higher than 6.3 dBi are measured in the frequency domain. Furthermore, a system fidelity factor larger than 98% and a relative group delay smaller than 100 ps are measured in the time domain within the 3 dB beamwidth of the antenna. As a result, the measured time-of-arrival of a transmitted Gaussian pulse, for different angles of arrival, exhibits variations smaller than 100 ps, corresponding to a maximum distance estimation error of 3 cm. Additionally, the antenna is validated in a real-life worst-case deployment scenario, showing that its characteristics remain stable in a large variety of deployment scenarios. Finally, the difference in frequency-and time-domain performance is studied between the antenna implemented in AFSIW and in dielectric filled substrate integrated waveguide (DFSIW) technology. We conclude that DFSIW technology is less suitable for the envisaged precision IR-UWB localization application

Identification and Mitigation of NLOS based on Channel Information Rules for Indoor UWB Localization

Indoor localization is an emerging technology that can be utilized for developing products and services for commercial usage, public safety, military applications and so forth. Commercially it can be applied to track children, people with special needs, help navigate blind people, locate equipment, mobile robots, etc. The objective of this thesis is to enable an indoor mobile vehicle to determine its location and thereby making it capable of autonomous localization under Non-light of sight (NLOS) conditions. The solution developed is based on Ultra Wideband (UWB) based Indoor Positioning System (IPS) in the building. The proposed method increases robustness, scalability, and accuracy of location. The out of the box system of DecaWave TREK1000 provides tag tracking features but has no method to detect and mitigate location inaccuracies due to the multipath effect from physical obstacles found in an indoor environment. This NLOS condition causes ranges to be positively biased, hence the wrong location is reported. Our approach to deal with the NLOS problem is based on the use of Rules Classifier, which is based on channel information. Once better range readings are achieved, approximate location is calculated based on Time of Flight (TOF). Moreover, the proposed rule based IPS can be easily implemented on hardware due to the low complexity. The measurement results, which was obtained using the proposed mitigation algorithm, show considerable improvements in the accuracy of the location estimation which can be used in different IPS applications requiring centimeter level precision. The performance of the proposed algorithm is evaluated experimentally using an indoor positioning platform in a laboratory environment, and is shown to be significantly better than conventional approaches. The maximum positioning error is reduced to 15 cm for NLOS using both an offline and real time tracking algorithm extended from the proposed approach

D-SLATS: Distributed Simultaneous Localization and Time Synchronization

Through the last decade, we have witnessed a surge of Internet of Things (IoT) devices, and with that a greater need to choreograph their actions across both time and space. Although these two problems, namely time synchronization and localization, share many aspects in common, they are traditionally treated separately or combined on centralized approaches that results in an ineffcient use of resources, or in solutions that are not scalable in terms of the number of IoT devices. Therefore, we propose D-SLATS, a framework comprised of three different and independent algorithms to jointly solve time synchronization and localization problems in a distributed fashion. The First two algorithms are based mainly on the distributed Extended Kalman Filter (EKF) whereas the third one uses optimization techniques. No fusion center is required, and the devices only communicate with their neighbors. The proposed methods are evaluated on custom Ultra-Wideband communication Testbed and a quadrotor, representing a network of both static and mobile nodes. Our algorithms achieve up to three microseconds time synchronization accuracy and 30 cm localization error

An RF System Design for an Ultra Wideband Indoor Positioning System

Three main elements for an indoor positioning and navigation system design are the signal structure, the signal processing algorithm and the digital and RF prototype hardware. This thesis focuses on the design and development of RF prototype hardware. The signal structure being used in the precise positioning system discussed in this thesis is a Multicarrier-Ultra Wideband (MC-UWB) type signal structure. Unavailability of RF modules suitable for MC-UWB based systems, led to design and development of custom RF transmitter and receiver modules which can be used for extensive field testing. The lack of RF design guidelines for multicarrier positioning systems that operate over fractional bandwidth ranging from 10% to 25% makes the RF design challenging as the RF components are stressed using multicarrier signal in a way not anticipated by the designers. This thesis, first presents simulation based performance evaluation of impulse radio based and multicarrier based indoor positioning systems. This led to an important revelation that multicarrier based positioning system is preferred over impulse radio based positioning systems. Following this, ADS simulations for a direct upconversion transmitter and a direct downconversion receiver, using multicarrier signal structure is presented. The thesis will then discuss the design and performance of the 24% fractional bandwidth RF prototype transmitter and receiver custom modules. This optimized 24% fractional bandwidth RF design, under controlled testing environment demonstrates positioning accuracy improvement by 2-4 times over the initial 11% fractional bandwidth non-optimized RF design. The thesis will then present the results of various indoor wireless tests using the optimized RF prototype modules which led to better understanding of the issues in a field deployable indoor positioning system

Realization Limits of Impulse-Radio UWB Indoor Localization Systems

In this work, the realization limits of an impulse-based Ultra-Wideband (UWB) localization system for indoor applications have been thoroughly investigated and verified by measurements. The analysis spans from the position calculation algorithms, through hardware realization and modeling, up to the localization experiments conducted in realistic scenarios. The main focus was put on identification and characterization of limiting factors as well as developing methods to overcome them