Ranging With Ultrawide Bandwidth Signals in Multipath Environments

Over the coming decades, high-definition situationally-aware networks have the potential to create revolutionary applications in the social, scientific, commercial, and military sectors. Ultrawide bandwidth (UWB) technology is a viable candidate for enabling accurate localization capabilities through time-of-arrival (TOA)-based ranging techniques. These techniques exploit the fine delay resolution property of UWB signals by estimating the TOA of the first signal path. Exploiting the full capabilities of UWB TOA estimation can be challenging, especially when operating in harsh propagation environments, since the direct path may not exist or it may not be the strongest. In this paper, we first give an overview of ranging techniques together with the primary sources of TOA error (including propagation effects, clock drift, and interference). We then describe fundamental TOA bounds (such as the CramÉr–Rao bound and the tighter Ziv–Zakai bound) in both ideal and multipath environments. These bounds serve as useful benchmarks in assessing the performance of TOA estimation techniques. We also explore practical low-complexity TOA estimation techniques and analyze their performance in the presence of multipath and interference using IEEE 802.15.4a channel models as well as experimental data measured in indoor residential environments.      

Modeling the Effect of Human Body on TOA Based Indoor Human Tracking

In time-of-arrival (TOA) based indoor human tracking system, the human body mounted with the target sensor can cause non-line of sight (NLOS) scenario and result in significant ranging error. However, the previous studies on the behavior of indoor TOA ranging did not take the effects of human body into account. In this paper, measurement of TOA ranging error has been conducted in a typical indoor environment and sources of inaccuracy in TOA-based indoor localization have been analyzed. To quantitatively describe the TOA ranging error caused by human body, we introduce a statistical TOA ranging error model for body mounted sensors based on the measurement results. This model separates the ranging error into multipath error and NLOS error caused by the creeping wave phenomenon. Both multipath error and NLOS error are modeled as a Gaussian variable. The distribution of multipath error is only relative to the bandwidth of the system while the distribution of NLOS error is relative to the angle between human facing direction and the direction of transmitter–receiver, signal to noise ratio and bandwidth of the system, which clearly shows the effects of human body on TOA ranging.     

IR-UWB定位系统距离误差建模及性能研究

基于相干TOA测距算法,研究了IR-UWB无线室内定位系统中由脉冲信号传播特性导致的多径误差和NLOS误差的建模问题。首先利用IEEE 802.15.4a信道模型中的多径信息给出了与系统带宽有关的多径距离误差分布参数。结合IR-UWB信号穿墙传播几何结构,理论推导了穿墙额外传播时延导致的几何距离误差限。对完全NLOS环境下定位的仿真结果表明,利用NLOS距离误差信息直接对TOA测距结果的修正可以显著提高定位精度。     

Threshold-Based Time-of-Arrival Estimators in UWB Dense Multipath Channels

The need for accurate positioning has gained significant interest recently, especially in cluttered environments where signals from satellite navigation systems are not reliable. Positioning systems based on ultrawide bandwidth (UWB) technology have been considered for these environments because UWB signals are able to resolve multipath and penetrate obstacles. These systems usually obtain range measurements from timeof- arrival (TOA) estimation of the first path, which can be a challenge in dense multipath environments. In this paper, we analyze and compare the performance of matched filter (MF) and energy detector (ED) TOA estimators based on thresholding in UWB dense multipath channels. The main advantage of threshold-based estimators is that they have the potential for complete analog implementation and hence they are particularly attractive for applications that require low cost battery-powered devices. Closed-form expressions for the estimator bias and mean square error (MSE) are derived as a function of the signalto- noise ratio. A comparison with results obtained from Monte Carlo simulation confirms the validity of our analytical approach. This analysis enables us to determine the threshold value that minimizes the MSE, a critical parameter for optimal estimator design. A simple criteria to determine the threshold value is also presented. It is shown that the estimation accuracy is mainly affected by the ambiguity in the selection of the correct peak at the output of the MF or ED, caused by the fading characteristics of the first path. We also evaluate the performance loss of ED estimators with respect to MF estimators. Finally, results based on experimental measurements in an indoor residential environment are presented in order to compare the performance of TOA estimators in realistic environments.     

Measurement and Modeling of Ultrawideband TOA-Based Ranging in Indoor Multipath Environments

In this paper, we present the results of the measurement and modeling of ultrawideband (UWB) time of arrival (TOA)-based ranging in different indoor multipath environments. We provide a detailed characterization of the spatial behavior of ranging, where we focus on the statistics of the ranging error in the presence and absence of the direct path (DP) and evaluate the path loss behavior in the former case, which is important for indoor geolocation coverage characterization. The frequency-domain measurements were conducted, with a nominal frequency of 4.5 GHz with two different bandwidths, i.e., 500 MHz and 3 GHz. The parameters of the ranging error probability distributions and path loss models are provided for different environments (e.g., an old office, a modern office, a house, and a manufacturing floor) and different ranging scenarios [e.g., indoor to indoor (ITI), outdoor to indoor (OTI), and roof to indoor (RTI)].      

Identification of the Absence of Direct Path in ToA-Based Indoor Localization Systems

Ultra-wideband (UWB) indoor positioning systems based on time of arrival (ToA) techniques are considered to be the high precision alternatives to those employing received signal strength (RSS) or angle of arrival (AoA) due to their superior time-domain resolution. However, the performance of such systems may easily be degraded by the blockage of the direct path (DP) and occurrence of undetected direct path (UDP) condition. By erroneous detection of the other multipath components (MPCs) as DP, which is the indicator of the true distance between the transmitter and the receiver, substantial localization errors will be introduced into the system. Hence, detection of DP categorizes the receiver locations into two main classes of detected direct path (DDP) and undetected direct path (UDP). The real challenge is to be able to identify the class of the receiver location; therefore, to remedy the ranging measurement in UDP condition. In this paper we propose a methodology to identify and mitigate the UDP conditions, which can substantially improve the overall indoor positioning accuracy.     

室内信道环境下UWB精确测距研究

研究了IEEE 802.15.4a室内信道环境下UWB(ultra wideband)信号的精确测距能力。提出了一种改进的基于区间搜索和门限比较的TOA(time of arrival)估计算法。基于对CM1和CM2信道实现的部分参数的统计分析,建立了TOA估计误差的概率模型,并由此给出了通过将误差概率控制到最低的算法门限设置方案。通过仿真考察了不同信噪比下测距结果的平均绝对误差。结果表明,UWB在室内信道条件下要获得厘米级的测距精度,接收信号须保证足够高的信噪比,但信噪比提高到一定程度后测距性能并不会进一步提升,此结论对于设计满足一定精度需求的定位算法以及实际测距中控制信号的传输功率具有一定的指导意义。     

TOA estimation of UWB backscattering RFID tag with dual pulse modulation for clutter suppression

To realize precise localization for UWB backscattering RFID system, the arrival time of the direct path in the received signal (referred as time of arrival (TOA)) needs to be accurately estimated. The background clutter is one of the major factors that deteriorates the TOA estimation accuracy in backscattering RFID system. To suppress the background clutter while maintain low‐complexity system design, we propose a novel UWB backscattering RFID system with its tag being implemented with dual pulse (DP) modulation. By transforming the mathematical model of received signal into a proper form, we discover the tag's sequence selection criteria which are able to mitigate the background clutter. For the proposed tag coded with dedicated sequences, a two‐stage TOA estimation algorithm able to effectively mitigate clutter is developed. Simulation results show that the proposed RFID system coupled with the algorithm is able to achieve accurate TOA estimation in the environment where the clutter overwhelms the tag response. Copyright © 2010 John Wiley & Sons, Ltd.     

OFDM-WLAN系统互相关超分辨TOA估计

在正交频分复用无线局域网系统的室内场景下,针对单快拍多重信号分类的超分辨到达时间估计由于多径数估计不准确导致的到达时间估计误差偏大的问题,提出了一种未知多径数的互相关超分辨到达时间估计算法。该算法根据正交频分复用无线局域网系统的物理层协议数据单元的特点,考虑到前导码中相邻两个长正交频分复用符号的信道不变性和噪声的不相关性,首先利用两个长正交频分复用符号估计两组信道频域响应,然后,采用前后向频域平滑的方法,求两组信道频域响应的互相关矩阵,进而用所求互相关矩阵逆的高次幂近似噪声特征矩阵的乘积,最后构造伪谱函数并进行谱峰搜索,从而实现到达时间的估计。仿真结果表明,该算法估计精度高,且对噪声不敏感,具有较好的鲁棒性。     

The ultra-wide bandwidth indoor channel: from statistical model to simulations

We establish a statistical model for the ultra-wide bandwidth (UWB) indoor channel based on an extensive measurement campaign in a typical modern office building with 2-ns delay resolution. The approach is based on the investigation of the statistical properties of the multipath profiles measured in different rooms over a finely spaced measurement grid. The analysis leads to the formulation of a stochastic tapped-delay-line (STDL) model of the UWB indoor channel. The averaged power delay profile can be well-modeled by a single exponential decay with a statistically distributed decay constant. The small-scale statistics of path energy gains follow Gamma distributions whose parameters m are truncated Gaussian variables with mean values and standard deviations decreasing with delay. The total received energy experiences a lognormal shadowing around the mean energy given by the path-loss power law. We also find that the correlation between multipath components is negligible. Finally, we propose an implementation of the STDL model and give a comparison between the experimental data and the simulation results.     

The effects of channel-estimation errors on a space-time spreading CDMA system with dual transmit and dual receive diversity

The uplink of a space-time spreading code-division multiple-access system with dual transmit and dual receive antennas is analyzed with the effect of imperfect channel estimation. With the help of pilot signals, the Rayleigh multipath fading channel experienced by the transmitted signal is estimated by simple correlators, and subsequently used to coherently combine the multipath signals in a RAKE-like space-time combiner. As a system becomes more wideband, more multipaths are resolved, and the energy in each path is reduced. This reduction in signal strength causes increased estimation error and impacts the system performance. Through the derivation of the probability of error in a space-time spreading system with channel-estimation errors, this paper studies the tradeoff between diversity and estimation errors. It is shown that an optimal bandwidth exists and the optimal power allocation for the pilot signals is a function of the quality of the channel estimates.     

户内多径信道中 PRF 对 UWB 系统性能影响

首次研究分析脉冲重复频率(PRF)对密集多径衰减信道下采用 THSS 和 PPM 的 UWB 系统 BER 性能的影响。通过使用混合选择／最大比率结合分集接收机(H-S／MRC)并利用虚拟分支技术,首次推导出基于 PRF、选择并结合的多径成分数量 L 以及信道的多径扩频的 UWB 系统准确 BER 表达式,并对 BER 性能进行分析和仿真评估。结果表明：在密集多径衰减环境下,不仅仅脉冲波形和 L,而且 PRF 对 UWB 系统 BER 性能影响极大。当固定 L 和脉冲波形时,增大 PRF 将大大降低 UWB 系统 BER 性能。     

Bandwidth requirements for accurate detection of direct path in multipath environment

The accurate detection of the direct path in a dense multipath environment is critical in time-based and angle-of-arrival-based location estimation techniques. It is generally assumed that an infinitely large bandwidth is helpful in the accurate detection of the direct path and high-range resolution. It is experimentally demonstrated that, for a wideband system, a bandwidth of up to 4 GHz, centred on 12.5 GHz, is sufficient for accurate detection of direct path in a typical indoor scattering environment. Additionally, the bandwidth gain, incremental range accuracy with bandwidth, is an effective indicator of the bandwidth requirements for accurate detection of the direct path.     

基于容错决策树的UWB辅助惯性定位方法

针对惯性导航系统误差随时间累积和超宽带(UWB)定位受到非视距问题、多径效应和人体影响出现粗大误差的问题,提出了一种基于容错决策树的UWB辅助人员室内惯性定位方法。该方法提出并采用陀螺仪高精度分段拟合误差补偿模型,抑制惯性导航误差漂移;同时在UWB辅助人员室内惯性定位的基础上,构建惯性导航与UWB单点定位数据共同作用的容错决策树判定模型,剔除UWB定位的粗大误差因子,进而对惯性导航和UWB的参数应用扩展卡尔曼滤波,实现UWB辅助增强惯性定位。根据实验验证表明,在复杂狭窄巷道环境,该方法将距离均方误差占路线长度的比例从6.02%提升到0.76%;在常规方正室内环境,该方法将最大误差占路线长度的比例从2.207%提升到0.635%。实现了长时间的连续可靠定位,具有较强的工程应用价值。     

基于延迟锁相环的到达时间估计算法

超宽带脉冲信号具有高时间分辨能力,能达到厘米级的定位精度。目前,脉冲超宽带测距定位系统中普遍采用基于能量检测的非相关到达时间(TOA)估计算法的性能通常受限于阈值门限和估计偏差。该文在原先锁相环方案基础之上引入延时迟支路和衰减因子,提出了一种易于实现的基于延迟锁相环的TOA估计算法。通过在迟支路中设置不同的衰减因子,仿真结果表明,在IEEE802.15.4a4种信道模型CM1~CM4中,新算法均能有效提升测距定位精度,即缩短了首达路径与锁相环稳态锁定点之间的时差,其估计偏差最低可降至原有方案的1/10。     

A decision tree‐based NLOS detection method for the UWB indoor location tracking accuracy improvement

Among existing wireless technologies, ultra‐wideband (UWB) is the most promising solution for indoor location tracking. UWB has a great multipath fading immunity; however, great multipath resolvability alone does not eliminate the effect of non‐line‐of‐sight (NLOS) and multipath propagation. NLOS and multipath propagation in indoor environments can easily produce meters of UWB ranging error. This condition gives an enormous impact on the accuracy of indoor location tracking data. To address this problem, we propose an NLOS detection method using recursive decision tree learning. Using the UWB channel quality indicators information, we develop our model with the Gini index and altered priors splitting criteria. We then validate the constructed model using the 10‐fold cross‐validation method. Our experiment shows that the constructed model has correctly detected 90% of both line‐of‐sight (LOS) and NLOS cases on the seven different indoor environments. The result of this work can be used for the UWB indoor location tracking accuracy improvement.     

Performance of a Binary PPM Ultra-Wideband Communication System with Direct Sequence Spreading for Multiple Access

In this paper, we present an analysis of the BER performance of an ultra-wideband (UWB) system with pulse position modulation (PPM) for data modulation and direct sequence (DS) spreading for multiple access over indoor lognormal fading channels. A rake receiver is used to combine a subset of the resolvable multipath components using the maximal ratio combining technique. Inter-path and multiple-access interferences are modeled and incorporated into the bit-error-rate expressions. The analytical and simulation results allow one to quantify many critical aspects of a DS-PPM UWB system such as the gain of the optimally spaced signaling scheme over the orthogonal signaling scheme, the potential error floor given a specific channel multipath delay spread and the number of interfering users, tolerance of the system to timing jitter, and impact of user codes.     

码片占空因子对DS-UWB系统的影响

由于超宽带系统与窄带系统频谱重叠,窄带信号不可避免会干扰超宽带系统,严重影响其性能。信道模型采用IEEE 802.15.3a工作组建议的标准UWB室内信道模型,并使用最大比例合并Rake接收机,系统地研究了在不同窄带信号干扰情况下,可变的码片占空因子对直接序列超宽带(DS-UWB)系统的性能影响,并进行了仿真。仿真结果表明,使用低的码片占空因子得到的超宽带信号,能有效抵抗窄带干扰和多径衰落,较大提高UWB系统误比特性能。     

基于EEMD的全质心UWB室内定位算法

针对室内环境下的非视距(non-line-of-sight,NLOS)及多径(Multipath)传播给定位结果带来较大误差的问题,本文先将通过超宽带(ultra wideband,UWB)室内定位系统中的TOA模型测得的目标节点(携带定位终端的人或物体)分别到三个锚节点(下位机)的距离值进行集合经验模式分解(Ensemble Empirical Mode Decomposition,EEMD)分析除噪,再运用三角形全质心定位算法求出目标节点在二维坐标系中的坐标值,最后从这一组定位结果中随机选一个坐标值作为目标节点最终的定位结果。结果表明:与传统的粒子滤波法、贝叶斯滤波法、BP神经网络法、泰勒级数法、小波滤波法等提高定位精度的算法相比,该算法提高了定位精度及鲁棒性等性能。     

超宽带定位研究与应用:回顾和展望

 超宽带(Ultra-Wideband,UWB)技术能获得比现有无线定位技术更高的测距定位精度.本文主要讨论UWB定位技术的研究和应用,包括TOA/TDOA(Time/Time Difference of Arrival)等UWB定位方法、多径时延估计理论、非视距定位和协作式定位、多带OFDM(Orthogonal Frequency Division Multiplexing)定位和其他超宽带信号定位方式等方面,对其发展历程和现状进行了充分的叙述和分析,最后指出了仍存在的问题和值得进一步探讨的方向.