Localization and Tracking for LDR-UWB Systems

Localization and tracking (LT) algorithms for low data rate (LDR) ultra wideband (UWB) systems developed within the Integrated Project PULSERS Phase II are reviewed and compared. In particular, two localization algorithms, designed for static networks with mesh topologies, and one Tracking Algorithm, designed for dynamic network with star topologies are described and/or compared. Each of the localization algorithms adopts a different approach, namely, a centralized non-parametric weighted least squares approach (WLS), and a distributed Bayesian approach that relies on the cooperative maximization of the log-likelihood of range measurements (DMLL). The performance of these two alternatives are compared in a 3D indoor scenario under realistic ranging errors. The tracking algorithm is a fast non-parametric technique based on multidimensional scaling (MDS) and its performance is tested in a dynamic scenario. The proposed algorithms are practical and robust solutions addressing distinct network topologies and/or service requirements related to LDR-LT applications.