In many mobile wireless applications such as the automated driving of cars, formation flying of unmanned air vehicles, and source localization or target tracking with wireless sensor networks, it is more important to know the precise relative locations of nodes than their absolute coordinates. GPS, the most ubiquitous localization system available, generally provides only absolute coordinates. Furthermore, low-cost receivers can exhibit tens of meters of error or worse in challenging RF environments. This paper presents an approach that uses GPS to derive relative location information for multiple receivers. Nodes in a network share their raw satellite measurements and use this data to track the relative motions of neighboring nodes as opposed to computing their own absolute coordinates. The system has been implemented using a network of Android phones equipped with a custom Bluetooth headset and integrated GPS chip to provide raw measurement data. Our evaluation shows that centimeter-scale tracking accuracy at an update rate of 1 Hz is possible under various conditions with the presented technique. This is more than an order of magnitude more accurate than simply taking the difference of reported absolute node coordinates or other simplistic approaches due to the presence of uncorrelated measurement errors.

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The interactions most supportive of positive child development take place in moments of close contact with others. In the earliest years of life, a child's caregivers are the primary partners in these important interactions. Little is known about the patterns of real-life physical interactions between children and their caregivers, in part due to an inability to measure these interactions as they occur in real time. We have developed a wearable, infrastructure-free device (TotTag) used to dynamically and unobtrusively measure physical proximity between children and caregivers in real-time. We present a case-study illustration of the TotTag with data collected over two (12-hour) days each from two families: a family of four (30-month-old son, 61month-old daughter, 37-year-old father, 37-year-old mother), and a family of three (12-monthold daughter, 35-year-old-father, 33-year-old mother). We explored patterns of proximity within each parent-child dyad and whether close proximity would indicate periods in which increased opportunity for developmentally critical interactions occur. Each child also wore a widely used wearable audio recording device (LENA) to collect time-synced linguistic input. Descriptive analyses reveal wide variability in caregiver-child proximity both within and across dyads, and that amount of time spent in close proximity with a caregiver is associated with the number of adult words and conversational turns to which a child was exposed. This suggests that variations in proximity are linked to, though, critically, not synonymous with, quantity of a child's exposure to adult language. Potential implications for deepening understanding of early caregiver-child interactions are discussed.