Multipath-assisted single-anchor indoor localization in an office environment

Multipath propagation is one of the key problems for indoor localization systems. Strong multipath components can cause range estimates to anchor nodes to be severely biased. If a floor plan is available, reflected signal paths can be used effectively by mapping them to virtual anchors. We show how to make use of the rich localization information provided by just one anchor node. Using tracking algorithms both with and without data association, we achieve accurate and robust localization, which is verified in an indoor environment using measured data at ultra-wide bandwidths. With an extended Kalman filter and data association, a position error of 22 cm is obtained for 90% of the estimates at a bandwidth of 2GHz.