TOA and DOA Estimation for Positioning and Tracking in IR-UWB

This paper deals with positioning in Impulse Radio UWB (IR-UWB) based on Time-Of-Arrival (TOA) and Direction-Of-Arrival (DOA). We consider array processing at the receiver which allows low complexity joint estimation of TOA and DOA in frequency domain, previously proposed by the authors. The use of array processing provides robustness and potentially allows positioning with a single reference node. A position tracking algorithm based on the Extended Kalman Filter (EKF) from TOA and DOA measurements is proposed and evaluated.