2.5D Indoor Mapping and Location-Sensing using an Impulse Radio Network

This paper describes a location-sensing technique suitable for impulse radio ad-hoc networks operating indoors. This technique has similarities to hyperbolic navigation and bistatic radar, but it does not use any fixed references. Given the channel impulse responses (CIRs) of transmitter/receiver pairs communicated around the network, we developed 2D algorithms that can successfully map typical 2D indoor environments comprising four walls in relation to communicating radios. In this paper, we present the method to reconstruct 2.5D indoor environments with walls perpendicular to the floor and ceiling. The technique can be extended to solve more complex scenarios.