Path loss and multipath effects in a real world indoor localization scenario

This paper presents results of a large real world experimental setup of an indoor localization system. We used a time-of-flight based radio range measurement system to collect a large body of ranging data between a mobile reference system and multiple anchor nodes with a fixed and known position. For our experiment the reference system moved autonomously through an office building while collecting ranging data. We used this data to analyze the impact of environmental parameters on the ranging accuracy. We saw effects which are not predicted by the standard channel models for multiple scenarios and discuss these effects in detail.