42. An Unscented Kalman Filter Approach for High-Precision Indoor Localization

An indoor localized system is a network of sensors used to track people or objects that cannot be tracked completely using GPS in areas, such as multi-story buildings, airports, tunnels, and many more. A wide variety of techniques and technologies are implemented to provide indoor positioning ranging from already installed reconfigured devices such as smart phones, Wi-Fi and Bluetooth antennas, digital cameras, and clocks to specifically designed installations with strategically placed relays and beacons throughout a specified space. IPS has broad applications in the industrial, defense, retail, and inventory monitoring industries. In this paper, we implement the localization concept which receives a phased-radio signal which is fed into unscented Kalman filter (UKF) without any prior processing to subjugate. For this process, standard preprocessing concepts, like angle-of-arrival prediction, beam forming, and time-of-flight or time-difference-of-arrival predictions were never necessary. It completely nullifies the essential difficulties of other phase related, highly accurate techniques of localization similar to synthetic aperture methods. To prove this above procedure, let us employ a desirable setup with 24 Ghz frequency-modulated continuous-wave single-input-multiple-output (S.I.M.O) along with a secondary radar with bandwidth of 250 MHz. The ideal trajectory of the transmitter is assumed as helical in nature. Apart from the challenging conditions like interference due to noise and low bandwidth, the results produce good localization with a minimum RMSE of around a few centimeters. The suggested process could be utilized for almost any form of C.W-carrier E.M signal and provides an interesting unorthodox to traditional multi-purpose approaches.