Design and Study of Passive Localisation Protocols Using Commercial UWB Radios

Abstract: The need of accurate positioning systems arose in modern society as systems like GPS and Base Station aided mobile user localization struggle to provide accurate enough ranging accuracy for indoor positioning. UWB devices, since they have potential for centimeter precision, are good candidates in order toperform accurate positioning in indoor scenarios. Schedule Based Positioning has been introduced as a method that uses delayed transmissions between asynchronous anchors as per a schedule. It has been shown that under small restrictions on the schedule, a node can find its own location by listening to the messages emitted by the anchors. Such routine has been designed to work on cheap UWB sensors but as of now had not been implemented on actual hardware. The main goal of this master thesis has been to implement such systemon commercial devices, namely the Decawave DW1000, and to design error mitigation protocols in order to compensate for hardware flaws. This thesis’ contribution is to propose a comprehensive measurement model of real devices performing scheduled based self localization, to present the implementation work flow and particularities relative to the implementation on EVK1000. Then it presents an extension for schedule based positioning inNLOS context where low power sensors cannot communicate. In a last partan analysis of the experimental results is carried and compared to simulated data and Hybrid-Cramér Rao Bound.