Error Profiling for Indoor Localization with Angle of Arrival

Exploring the world of indoor localization leaves us with many technologies to achieve the desired accuracy. This paper focuses on Angle of Arrival, and the effect that the inaccuracies of the angle measurement have on the localization error. A theoretical method is developed to calculate an error profile for the entire considered rectangular space. A trade-off is made between the different number of intelligent nodes which could be used and the accuracy which can be achieved. As an outcome, four intelligent nodes will be placed in the corners of the room. Theoretical calculations are compared to practical results for the test set-up of four intelligent nodes trying to determine the position of one mobile node. Each intelligent node consist of a linear antenna array with four antenna elements operating on 2.4 GHz. The direction of the transmitting mobile node, to each intelligent node, is determined through three different Direction of Arrival algorithms: simple beamscan, ESPRIT and MUSIC.