A low-cost TDoA-based ultrasonic positioning system

摘要

In this paper, a low-cost implementation of a time-difference-of-arrival (TDoA) based ultrasonic positioning system is presented. The Least Squares Estimator (LSE) method is analyzed and compared to the best linear unbiased estimator (BLUE). The Geometrical Dilution of Precision (GDOP) corresponding to the selected anchors' positions was also evaluated and related to the poisoning accuracy. The comparison was carried out by performing measurements in a 3D real environment. The GDOP analysis shows that the chosen anchors' positions can strongly affect the achievable performance, and that the BLUE provides a more robust performance than LSE.