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Indoor location tracking of mobile robots or transport vehicles using wireless technology is attractive for many applications. IEEE 802.15.4a wireless networks offer an inexpensive facility for localizing mobile devices by time-based range measurements. The main problems of time-based range measurements in indoor environments are errors by multipath and non-line-of-sight (NLOS) signal propagation. This paper describes indoor tracking using range measurements and an Extended Kalman Filter with NLOS mitigation. The commercially available nanoLOC wireless network is utilized for range measurements. The paper presents experimental results of tracking a forklift truck in an industrial environment.
Date of Conference: 10-15 Oct. 2009