Hybrid WiFi/UWB, cooperative localization using Particle Filter

Indoor navigation using RF signals has attracted tremendous attention in the recent years. However, indoor localization using RF signaling is very challenging and does not provide adequate precision for many applications. In this paper we use Particle Filter (PF) to integrate the Received Signal Strength (RSS) of WiFi and the Time Of Arrival (TOA) of UWB RF signaling for precise cooperative localization in indoor environment. The choice for PF is due to non-linear and Non-Gaussian channel models for RF localization algorithm. We use channel models for the RSS of WiFi and the TOA of UWB. The performance of the PF results are evaluated in a typical indoor scenario and are compared with the Cramér-Rao-Lower-Bound (CRLB) for Hybrid (UWB & WiFi) in Cooperative (COOP) and non-Cooperative (NCOOP) modes.