Fast and accurate ultrasonic 3D localization using the TSaT-MUSIC algorithm

We describe a fast and accurate indoor localization technique using the multiple signal classification (MUSIC) algorithm. This algorithm is known as a high-resolution method for estimating directions of arrival (DOAs) or propagation delays. A critical problem in using the MUSIC algorithm for localization is its computational complexity. Therefore, we devised a novel algorithm called Time Space additional Temporal MUSIC (TSaT-MUSIC), which can rapidly and simultaneously identify DOAs and delays of multicarrier ultrasonic waves from transmitters. Computer simulations have proved that the computation time of the proposed algorithm is almost constant in spite of increasing numbers of incoming waves, and is faster than that of existing methods based on the MUSIC algorithm. Experiments in real environments showed that the standard deviation of position estimations in 3D space is less than 10 mm, which is satisfactory for indoor localization.