Tracking a Mobile Receiver using the Unscented Kalman Filter

Technische Fakultät Institut fur Informatik Telecommunications Engineering Tracking a Mobile Receiver using the Unscented Kalman Filter by Joan Bordoy Andreu Indoor localization based on Time Difference of Arrival (TDOA) and Frequency Difference of Arrival (FDOA) has been a promising subject of study the last years. In this thesis, a moving target is tracked by receiving discrete signals from stationary beacons. These beacons are assumed to be small and inexpensive and they require no further communication. Moreover, they emit short discrete signals at regular intervals and are assumed to be distinguished. The interval can be different for each sender and they do not need to start emitting at the same time instant, they can be unsynchronized. The algorithm used to solve this situation is the unscented Kalman filter. First, an approach using only the TDOA or FDOA measurements is presented. Second, it is extended to the combination of both measurements. Finally, the performance of these algorithms is evaluated with multiple experiments such as changing the dimension of the space to three dimensions or changing the number of senders.