3D positioning using spherical location algorithms for networked wireless sensors deployed in grain

For the first time a novel ultra wideband positioning technique is demonstrated which can locate wireless sensor networks in grain silos and other lossy multi-path environments. Pulse edge detection and triggering are combined with classic dasiatime of flightpsila tri-lateration to yield time difference of arrival data with sub-nanosecond accuracies. Temporal positioning data is processed using spherical function construction to achieve position resolutions of 5 cm.