No abstract

We present an indoor positioning system based on time-of-arrival (TOA) and angle-of-arrival (AOA/bearing) estimations using ultrasonic signals. Sensor anchor nodes deployed in the area of interest detect incoming signals from a mobile ultrasonic transmitter. The developed algorithm uses the range-bearing positioning method and can deal with ambiguous AOA sensor data. The system delivers 2D locations. We tested our positioning system inside an office building. Our system can locate objects with an error well below 10 cm even under these conditions with multipath reflections. Keywords-local positioning system; ultrasonic sensors; angleof-arrival; range-bearing positioning978-1-5090-2042-3/16/$31.00