Low cost indoor ultrasonic positioning implemented in FPGA

This paper presents a low cost indoor ultrasonic-based positioning system. This system allows the mobile nodes of a Wireless Sensor Network to know their location using radiofrequency and ultrasonics. To achieve this goal, a matrix of transmitting anchor points is installed whereas the mobile nodes receive these transmitted signals and estimate the time-of-flight of the ultrasonic signals. Using two time-of-flight measurements and trilateration equations, the location of the mobile nodes can be inferred in a 2-D space.