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Sensors 2017, 17(2), 227; doi:10.3390/s17020227

Customization of UWB 3D-RTLS Based on the New Uncertainty Model of the AoA Ranging Technique

BetterSolutions S.A., Al. Grunwaldzka 472, 80-309 Gdansk, Poland
Faculty of Electrical and Control Engineering, Gdansk University of Technology, G. Narutowicza 11/12, 80-233 Gdansk, Poland
Department of Applied Signal Processing, Blekinge Institute of Technology, 37179 Karlskrona, Sweden
Author to whom correspondence should be addressed.
Academic Editors: Ferran Martín and Jordi Naqui
Received: 14 September 2016 / Revised: 23 December 2016 / Accepted: 18 January 2017 / Published: 25 January 2017


The increased potential and effectiveness of Real-time Locating Systems (RTLSs) substantially influence their application spectrum. They are widely used, inter alia, in the industrial sector, healthcare, home care, and in logistic and security applications. The research aims to develop an analytical method to customize UWB-based RTLS, in order to improve their localization performance in terms of accuracy and precision. The analytical uncertainty model of Angle of Arrival (AoA) localization in a 3D indoor space, which is the foundation of the customization concept, is established in a working environment. Additionally, a suitable angular-based 3D localization algorithm is introduced. The paper investigates the following issues: the influence of the proposed correction vector on the localization accuracy; the impact of the system’s configuration and LS’s relative deployment on the localization precision distribution map. The advantages of the method are verified by comparing them with a reference commercial RTLS localization engine. The results of simulations and physical experiments prove the value of the proposed customization method. The research confirms that the analytical uncertainty model is the valid representation of RTLS’ localization uncertainty in terms of accuracy and precision and can be useful for its performance improvement. The research shows, that the Angle of Arrival localization in a 3D indoor space applying the simple angular-based localization algorithm and correction vector improves of localization accuracy and precision in a way that the system challenges the reference hardware advanced localization engine. Moreover, the research guides the deployment of location sensors to enhance the localization precision. View Full-Text
Keywords: accuracy and precision; angle of arrival; correction vector; indoor localization systems; real-time locating systems accuracy and precision; angle of arrival; correction vector; indoor localization systems; real-time locating systems

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Jachimczyk, B.; Dziak, D.; Kulesza, W.J. Customization of UWB 3D-RTLS Based on the New Uncertainty Model of the AoA Ranging Technique. Sensors 2017, 17, 227.

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