Wireless localisation system
View Patent ↗Disclosed is method of computing a round trip delay between a pair of nodes, the method comprising transmitting at least one beacon at a known transmit time from each of the nodes; measuring the times-of-arrival of the beacons at other of the nodes; and estimating a round trip delay between the nodes from the measured times-of-arrival and the transmit times; and correcting the round trip delay for either or both of a frequency offset between the nodes and relative motion between the nodes.
1. A method of estimating the location of a mobile object using a plurality of anchor nodes, the method comprising:
synchronising said plurality of anchor nodes;
measuring a plurality of times-of-arrival of beacons transmitted from said object to respective said anchor nodes; and
estimating the location of said object relative to said anchor nodes using said measured times-of-arrival, corrected for a propagation delay at each said anchor node,
wherein the step of estimating the location of said object relative to said anchor nodes comprises the sub-steps of:
subtracting respective propagation delays from each of said plurality of measured times-of-arrival to obtain respective pseudo-ranges forming a set of obtained pseudo-ranges;
estimating locations of said object and corresponding errors in respective said location estimates, wherein each estimated location is determined from a subset of the obtained pseudo-ranges, and wherein each subset of the obtained pseudo-ranges excludes one pseudo-range from the set of obtained pseudo-ranges; and
discarding each of the obtained pseudo-ranges whose exclusion gave an error estimate that is less than a threshold; and
estimating the location of said object from undiscarded pseudo-ranges, the undiscarded pseudo-ranges being those of the obtained pseudo-ranges that have not been discarded.
2. The method according to claim 1 , wherein the step of synchronising said plurality of anchor nodes comprises the sub-steps of:
measuring a plurality of trip delays of beacons transmitted between said anchor nodes;
correcting said trip delays for propagation delays at said anchor nodes and frequency offsets between local clocks at respective said anchor nodes; and
determining a time offset of each said local clock from said corrected trip delays.
3. The method according to claim 1 , wherein said threshold is an error estimate of a location estimate determined from all of the obtained pseudo-ranges.
4. The method according to claim 1 , wherein said estimating sub-step comprises minimising a weighted sum over said anchor nodes of a squared difference between each pseudo-range and a distance between a candidate location and the location of a corresponding anchor node.
5. The method according to claim 1 , wherein each of said error estimates in the estimated locations comprises an estimate of a pseudo-range error and a term relating the pseudo-range error to said error in the estimated location.
6. The method according to claim 1 , wherein the discarding of the pseudo-ranges is performed until the number of the undiscarded pseudo-ranges reaches a minimum number.
7. The method of claim 1 , wherein the step of estimating the location of said object relative to said anchor nodes further comprises the sub-step of estimating an offset common to all said obtained pseudo-ranges.