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A tracking system for wireless embedded nodes using time-of-flight ranging

Mazomenos, Evangelos B., Reeve, Jeffrey S., White, Neil M. and Brown, Andrew D. (2012) A tracking system for wireless embedded nodes using time-of-flight ranging IEEE Transactions on Mobile Computing, n/a, pp. 1-14.

Record type: Article


In this work we present the design, development and evaluation of a real-time target tracking system for wireless embedded nodes, capable of effectively tracking manoeuvring targets. The proposed tracking system is designed to operate solely on range measurements obtained with the use of a two-way Time-of-Flight method without the need for additional hardware being incorporated in the nodes. To address the challenge of coping with manoeuvring targets, the tracking problem is formulated as a dynamical estimation problem where an adaptive multiple-model approach is employed to represent the motion pattern of manoeuvring targets. The ranging observations are produced in real-time and used as inputs to a Particle Filter algorithm which produces the estimates of the target’s kinematic variables. Simulations are provided to assess the effect of several factors on the system’s performance. Ultimately, the entire system is implemented on commercially available hardware and tested in an outdoor deployment. A total of 25 experiments demonstrate an average rms accuracy of 2.6m for position and 1.9m/s for velocity, in a 15m x 15m area. Such performance, which is additionally confirmed from simulation results reveals the potential of the proposed range-only system in application scenarios where real-time tracking of mobile targets is needed.

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e-pub ahead of print date: 3 October 2012
Keywords: computer applications, computer systems organization, mobile applications, real-time and embedded systems, special-purpose and application-based systems, target tracking, wireless sensor networks
Organisations: Electronics & Computer Science


Local EPrints ID: 340416
ISSN: 1536-1233
PURE UUID: d58d4ab5-adba-4ed1-b39c-d2d6cd7cea72
ORCID for Neil M. White: ORCID iD

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Date deposited: 21 Jun 2012 10:32
Last modified: 11 Aug 2017 08:15

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Author: Evangelos B. Mazomenos
Author: Jeffrey S. Reeve
Author: Neil M. White ORCID iD
Author: Andrew D. Brown

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