Article: Modified UKF for accurate indoor UWB multi-target tracking in the context of SαS NLOS model Journal: International Journal of Sensor Networks (IJSNET) 2024 Vol.44 No.4 pp.193 - 202 Abstract: Major problems in time-of-arrival (TOA)-based ultra-wide band (UWB) indoor localisation and tracking of multi-targets reside in the noise induced by the multipath effect in line-of-sight (LOS) and non-line-of-sight (NLOS) conditions and the interference noise caused by the multiple targets. These noises are non-Gaussian (impulsive noise) and commonly modelled by an alpha-stable distribution. In LOS conditions, even if there are multipaths, the direct path exists in the echo signal. Several algorithms, such as singular value decomposition (SVD) or double sliding window variance detection, can be used to determine the number of targets and extract the corresponding TOA of each first path (direct path). In NLOS conditions, only indirect paths are present, which influence the TOA measurement of the direct path and thereby affect multilateration localisation accuracy. In this paper, we propose a new nonlinear filtering technique based on a modified unscented Kalman Filter to mitigate NLOS, multipath, and multi-target interference noise. The results of experiments carried out with four (DWM1001) UWB sensors and two moving targets showed an important improvement in the accuracy of localisation at about 12 cm. Inderscience Publishers - linking academia, business and industry through research

Title: Modified UKF for accurate indoor UWB multi-target tracking in the context of SαS NLOS model

Authors: Zohra Slimane; Ibrahim Yassine Nouali; Abdelhafid Abdelmalek

Addresses: Department of Telecommunications, Faculty of Technology, Tlemcen University, Algeria ' Department of Telecommunications, Faculty of Technology, Tlemcen University, Algeria ' Department of Telecommunications, Faculty of Technology, Tlemcen University, Algeria

Abstract: Major problems in time-of-arrival (TOA)-based ultra-wide band (UWB) indoor localisation and tracking of multi-targets reside in the noise induced by the multipath effect in line-of-sight (LOS) and non-line-of-sight (NLOS) conditions and the interference noise caused by the multiple targets. These noises are non-Gaussian (impulsive noise) and commonly modelled by an alpha-stable distribution. In LOS conditions, even if there are multipaths, the direct path exists in the echo signal. Several algorithms, such as singular value decomposition (SVD) or double sliding window variance detection, can be used to determine the number of targets and extract the corresponding TOA of each first path (direct path). In NLOS conditions, only indirect paths are present, which influence the TOA measurement of the direct path and thereby affect multilateration localisation accuracy. In this paper, we propose a new nonlinear filtering technique based on a modified unscented Kalman Filter to mitigate NLOS, multipath, and multi-target interference noise. The results of experiments carried out with four (DWM1001) UWB sensors and two moving targets showed an important improvement in the accuracy of localisation at about 12 cm.

Keywords: ultra-wide band; UWB; time of arrival; TOA; multilateration; unscented Kalman filter; non-line of sight; NLOS; indoor localisation; singular value decomposition; SVD; symmetric alpha stable distribution.

DOI: 10.1504/IJSNET.2024.138515

International Journal of Sensor Networks, 2024 Vol.44 No.4, pp.193 - 202

Received: 12 Aug 2023
Accepted: 27 Feb 2024
Published online: 08 May 2024 *

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Title: Modified UKF for accurate indoor UWB multi-target tracking in the context of SαS NLOS model

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