Improving the Performance of an FMCW Indoor Localization System by Optimizing the Ranging Estimator

This work presents a three dimensional localization system for indoor environments based on Frequency Modulation Continuous Wave radar technology. An optimization of the Symmetric Double Sided Two Way Ranging estimator is proposed to improve the accuracy of the positioning algorithms. Moreover, the most promising positioning techniques, Recursive Least Square Method and Extended Kalman Filter, are analyzed. Measurements are presented that demonstrate that our proposal improves significantly the accuracy of the 3D positioning algorithms.