On the Performance of Holographic Extended Kalman Filters for Localization in Industrial Automation

Microwave localization systems are increasingly popular for the proceeding automation of logistics and modern factories, allowing for robust tracking of freely moving objects and workers. To enable reliable live-tracking, accurate positioning algorithms with high update rates are desirable. For this purpose, the holographic extended Kalman filter (HEKF) was presented in [1], combining low computational effort and an outstanding localization accuracy in the centimeter range. In this paper, the performance of the HEKF in a 24-GHz frequency modulated continuous wave system is evaluated. The impact on the accuracy of the evaluation frequency of the phase, reduced oversampling, and non-uniform movements are also investigated.