Method, device and system for indoor localization and tracking using ultra-wideband radio signals

摘要

A method of determining a position of a mobile agent in an indoor environment is provided, wherein one or more fixed anchors are arranged at predetermined positions within the indoor environment. The method comprises (a) transmitting an RF signal from a fixed anchor to the mobile agent or from the mobile agent to the fixed anchor, (b) receiving the RF signal transmitted by the fixed anchor at the mobile agent or the RF signal transmitted by the mobile agent at the fixed anchor, (c) based on the received RF signal, estimating a plurality of path lengths corresponding to the lengths of a plurality of paths along which the RF signal has traveled between the fixed anchor and the mobile agent, (d) obtaining an uncertainty for each of the estimated path lengths, (e) generating a set of weighted path lengths based on the estimated path lengths and the corresponding uncertainties for each of the estimated path lengths, and (f) determining the position of the mobile agent based on the weighted path lengths and a set of data representative of a relation between positions within the indoor environment and path lengths. Further, there is provided a mobile agent, an indoor localization system, a computer program, and a computer program product.