TDOA based localization using Interacting Multiple Model estimator and ultrasonic transmitter/receiver

This paper presents a wireless network infrastructure based localization system using ultrasonic transmitter and receiver for obtaining accurate TDOA measurements and Interacting Multiple Model (IMM) estimator for calculating the actual position of the target by running two filters, i.e. extended Kalman filter (EKF) and robust extended Kalman filter (REKF), which offers the protection against the noise in both line-of-sight (LOS) and non-line-of-sight (NLOS) environments. The experiment results showed that the system utilized the advantages of EKF and REKF for different environments and thus was able to provide a localization solution with high accuracy.