Accurate Ultrasound Indoor Localization Using Spring-Relaxation Technique

This paper reports on the development of an ultrasonic sensing-based active localization system. The system employs array to transmit chirp signals and time-of-flight measurement for ranging. position receiver is estimated iteratively using spring-relaxation technique. A median 90-percentile error 12.4 21.7 mm, respectively, were obtained measurements at 625 positions within a 1.2 m × area testbed. technique outperforms widely adopted linear least square-based lateration while same ranging data. performance benchmarked against that visible light positioning platform setup. reported results show be more accurate when compared with system, which achieved errors 33.7 58.6 respectively.