Joint anchor-less tracking and room dimensions estimation through IR-UWB peer-to-peer communications

In this paper we jointly address the problems of node location tracking and indoor mapping in the absence of infrastructure, relying on peer-to-peer IEEE 802.15.4a Impulse Radio - Ultra Wideband (IR-UWB) links. Coarse Time of Arrival (ToA) measurements, which are obtained within a low complexity Energy Detection (ED) receiver, are mapped into the direct path and single-bounce reflected multipath components. Then these measurements feed a multi-hypothesis tracking filter to retrieve the peers' normalized coordinates and the room dimensions. Preliminary results are provided in a canonical mobile scenario, where dense multipath channels are generated through realistic UWB Ray-Tracing simulations. On this occasion, remaining structural transmitter/receiver and mirror ambiguities are pointed out and illustrated.