A Tracking System for Wireless Embedded Nodes Using Time-of-Flight Ranging

In this work, we present the design, development, and evaluation of a real-time target tracking system for wireless embedded nodes, capable of effectively tracking manoeuvring targets. The proposed tracking system is designed to operate solely on range measurements obtained with the use of a two-way time-of-flight method without the need for additional hardware being incorporated in the nodes. To address the challenge of coping with manoeuvring targets, the tracking problem is formulated as a dynamical estimation problem where an adaptive multiple-model approach is employed to represent the motion pattern of manoeuvring targets. The ranging observations are produced in real time and used as inputs to a particle filter algorithm that produces the estimates of the target's kinematic variables. Simulations are provided to assess the effect of several factors on the system's performance. Ultimately, the entire system is implemented on commercially available hardware and tested in an outdoor deployment. A total of 25 experiments demonstrate an average RMS accuracy of 2.6 m for position and 1.9 m/s for velocity, in a 15 m × 15 m area. Such performance, which is additionally confirmed from simulation results, reveals the potential of the proposed range-only system in application scenarios where real-time tracking of mobile targets is needed.