A Novel UWB-based Multilateration Technique for Indoor Localisation

In this paper, we present a novel geometrically driven multilateration technique that is based on Ultra-Wideband (UWB) technology. We refer to our proposed solution as Time Reflection of Arrival (TROA). We demonstrate in this paper that the position estimation error is improved upon by carefully considering the inherent properties of the UWB technology and the reflection properties of transmitted UWB signals . By a direct comparison between TROA and two widely used multilateration techniques, we show that indoor position estimation can be done much more effectively using our proposed solution. We also derive a new Cramér-Rao lower bound (CRLB) for TROA multilateration and use it to show its level of efficiency.