223 research outputs found
TW-TOA based positioning in the presence of clock imperfections
This manuscript studies the positioning problem based on two-way time-of-arrival (TW-TOA) measurements in semi-asynchronous wireless sensor networks in which the clock of a target node is unsynchronized with the reference time. Since the optimal estimator for this problem involves difficult nonconvex optimization, two suboptimal estimators are proposed based on the squared-range least squares and the least absolute mean of residual errors. We formulated the former approach as an extended general trust region subproblem (EGTR) and propose a simple technique to solve it approximately. The latter approach is formulated as a difference of convex functions programming (DCP), which can be solved using a concave–convex procedure. Simulation results illustrate the high performance of the proposed techniques, especially for the DCP approach
Joint Estimation of the Time Delay and the Clock Drift and Offset Using UWB signals
We consider two transceivers, the first with perfect clock and the second
with imperfect clock. We investigate the joint estimation of the delay between
the transceivers and the offset and the drift of the imperfect clock. We
propose a protocol for the synchronization of the clocks. We derive some
empirical estimators for the delay, the offset and the drift, and compute the
Cramer-Rao lower bounds and the joint maximum likelihood estimator of the delay
and the drift. We study the impact of the protocol parameters and the
time-of-arrival estimation variance on the achieved performances. We validate
some theoretical results by simulation.Comment: Accepted and published in the IEEE ICC 2014 conferenc
TDOA based positioning in the presence of unknown clock skew
Cataloged from PDF version of article.This paper studies the positioning problem of a
single target node based on time-difference-of-arrival (TDOA)
measurements in the presence of clock imperfections. Employing
an affine model for the behaviour of a local clock, it is observed
that TDOA based approaches suffer from a parameter of the
model, called the clock skew. Modeling the clock skew as a
nuisance parameter, this paper investigates joint clock skew and
position estimation. The maximum likelihood estimator (MLE)
is derived for this problem, which is highly nonconvex and
difficult to solve. To avoid the difficulty in solving the MLE, we
employ suitable approximations and relaxations and propose two
suboptimal estimators based on semidefinite programming and
linear estimation. To further improve the estimation accuracy,
we also propose a refining step. In addition, the Cramer-Rao ´
lower bound (CRLB) is derived for this problem as a benchmark.
Simulation results show that the proposed suboptimal estimators
can attain the CRLB for sufficiently high signal-to-noise ratios
Method for joint flexion angle estimation using UWB ranging with clock model compensation
This paper presents a wearable system for measurement and monitoring human body joint angles based on UWB ranging. The DW1000 chip was used with standard deviation of distance measurement within 10 cm with range up to 70 m. We propose a method for enhancing range measurement accuracy based on an estimator which compensates clock imperfections and relative pairwise movement of nodes. Since the estimator is valid only for small slices of time, we propose continuous motion estimation algorithm based on segment-by-segment data processing and stitching results into a final solution. The pairwise distances are approximated with Taylor series of a given order L in short measurement windows while timestamps are compensated with clock parameters of a first-order clock model. The main contribution of the proposed method is the ability to implement joint angle estimation by using low-cost off-the-shelf UWB components, without high-precision clock sources or a need for wired or wireless time synchronization. In order to determine an optimum order L and time slice length, Sprague and Geers\u27 metric was used. The method was experimentally evaluated in static and dynamic conditions. The results show that the accuracy of the proposed system is comparable to similar solutions based on laboratory equipment
TDOA Based Positioning in the Presence of Unknown Clock Skew
This paper studies the positioning problem of a single target node based on time-difference-of-arrival (TDOA) measurements in the presence of clock imperfections. Employing an affine model for the behaviour of a local clock, it is observed that TDOA based approaches suffer from a parameter of the model, called the clock skew. Modeling the clock skew as a nuisance parameter, this paper investigates joint clock skew and position estimation. The maximum likelihood estimator (MLE) is derived for this problem, which is highly nonconvex and difficult to solve. To avoid the difficulty in solving the MLE, we employ suitable approximations and relaxations and propose two suboptimal estimators based on semidefinite programming and linear estimation. To further improve the estimation accuracy, we also propose a refining step. In addition, the Cramér-Rao lower bound (CRLB) is derived for this problem as a benchmark. Simulation results show that the proposed suboptimal estimators can attain the CRLB for sufficiently high signal-to-noise ratios
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