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Self-Calibration for the Time Difference of Arrival Positioning

: Sidorenko, Juri; Schatz, Volker; Bulatov, Dimitri; Scherer-Negenborn, Norbert; Arens, Michael; Hugentobler, Urs

Fulltext ()

Sensors. Online journal 20 (2020), No.7, Art. 2079, 15 pp.
ISSN: 1424-8220
ISSN: 1424-8239
ISSN: 1424-3210
Journal Article, Electronic Publication
Fraunhofer IOSB ()
dimension lifting; time-difference-of-arrival (TDOA)

The time-difference-of-arrival (TDOA) self-calibration is an important topic for many applications, such as indoor navigation. One of the most common methods is to perform nonlinear optimization. Unfortunately, optimization often gets stuck in a local minimum. Here, we propose a method of dimension lifting by adding an additional variable into the l2 norm of the objective function. Next to the usual numerical optimization, a partially-analytical method is suggested, which overdetermines the system of equations proportionally to the number of measurements. The effect of dimension lifting on the TDOA self-calibration is verified by experiments with synthetic and real measurements. In both cases, self-calibration is performed for two very common and often combined localization systems, the DecaWave Ultra-Wideband (UWB) and the Abatec Local Position Measurement (LPM) system. The results show that our approach significantly reduces the risk of becoming trapped in a local minimum.