Particle Filter Localization in Underground Mines Using UWB Ranging

Ultra Wideband technology is regarded by many as one of the future key technologies in communications and positioning. In this paper a positioning method is described for accurate underground mine localization of a sensor in a network of known beacons. The sensor measures the range to the beacons using an Ultra-Wideband (UWB) signal and uses statistical inference to correct for the error due to multipath and NLOS in underground mine. We show that a particle filter can be used to estimate the joint distribution over beacon measurement. Simulation results show perfect performance with UWB ranging and particle filter technology.