Systems and methods for precise radio frequency localization of wireless nodes including a wireless arbitrary device using time difference of arrival
In one embodiment, an asynchronous wireless system for localization of nodes comprises a first wireless node being configured to receive a first communication from a third wireless node having an unknown location, to determine time difference of arrival (TDoA) information of the reception of the first communication between each of the first and a second wireless node, to determine TDoA ranging including a relative or absolute position of the third wireless node using the time difference of arrival information, and to synchronize the first and second wireless nodes based on a second communication with the synchronization being decoupled in time from the first communication. In another embodiment, a computer implemented method comprises receiving, with first and second wireless anchor nodes, packets from a wireless arbitrary device and performing time difference of arrival ranging upon reception of the packets between each of the first and the second wireless anchor nodes.
1. A computer implemented method for a time difference of arrival (TDoA) ranging of wireless nodes in a wireless network architecture, comprising:
creating multiple distance estimate candidates between a tracker device have an unknown location and a first wireless node by using a known signal travel time between the first wireless node and a second wireless node;
obtaining, with the first wireless node, a receive time stamp of reception of a transmission from the tracker device;
obtaining, with the second wireless node, a receive time stamp of reception of the transmission from the tracker device;
obtaining, with the first wireless node, a receive time stamp of reception of a transmission from the second wireless node; and
generating a clock frequency offset estimation from the first wireless node and a receiver state dependent delay of the first wireless node.
2. The computer implemented method of claim 1 , further comprising:
obtaining first channel state information of the first wireless node upon reception of the transmission from the tracker device;
obtaining second channel state information of the first wireless node upon
reception of the transmission from the second wireless node; and
generating a combined channel state information based on the first and second channel state information from the reception of the transmissions from the tracker device and the second wireless node.
3. The computer implemented method of claim 1 , wherein a correct direct path from the second wireless node to the first wireless node is estimated using the known signal travel time between the first and second wireless nodes, the receive time stamp of the first wireless node, a transmit time stamp for a transmission of the second wireless node, and a measured history of a clock offset between the first and second wireless nodes.
4. The computer implemented method of claim 1 , wherein some of the distance estimate candidates are removed when the distance estimate candidates are not between predetermined limits.
5. The computer implemented method of claim 4 , wherein predetermined limits are calculated from known locations of the first and second wireless nodes and from a shape of a space where the tracker device is known to be.
6. The computer implemented method of claim 2 , wherein the combined channel state information is formed from a list of path distances from the second wireless node ordered from shortest to longest and containing only elements near a strongest path element from the first wireless node, from list of path distances from the tracker device ordered from shortest to longest and containing only elements near the strongest path element from the second wireless node, and from list of possible distances between the second wireless node and the tracker device.
7. The computer implemented method of claim 1 , wherein receiver and transceiver delays for the second wireless node are taken from a table containing delays previously measured for all transceiver states.
8. The computer implemented method of claim 1 , further comprising:
reporting, with the tracker device, an identifier that can be used to find previously measured transmitter or receiver frequency responses in a list.
9. The computer implemented method of claim 8 , wherein the identified transmitter or receiver frequency response is used to adjust channel state information of the first and second wireless nodes.